Reactive Navigation of Nonholonomic Mobile Robots in Dynamic Uncertain Environments with Moving and Deforming Obstacles

被引：0
|
作者：
Matveev, Alexey S. [1 ]
Wang, Chao [2 ]
Savkin, Andrey V. [2 ]
机构：
[1] St Petersburg Univ, Dept Math & Mech, Univ 28, St Petersburg 198504, Russia
[2] Univ New South Wales, Sch Elect Engn & Telecommun, Sydney, NSW 2052, Australia
来源：
PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE | 2012年
基金：
澳大利亚研究理事会; 俄罗斯基础研究基金会;
关键词：
AVOIDANCE; CURVATURE;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We present a sliding mode based strategy for navigation of a unicycle-like robot to the target through a dynamic environment cluttered with moving and deforming obstacles. The proposed strategy is based on properly switching between moves to the target in straight lines and sliding-mode based bypasses of enroute obstacles via patrolling their borders at a pre-specified distance. The convergence and performance of the obstacle avoidance algorithm is demonstrated via real-life experiments and computer simulations.
引用
收藏
页码：4480 / 4485
页数：6
相关论文
共 50 条
  • [11] A new bug-type navigation algorithm for mobile robots in unknown environments containing moving obstacles
    Zhu, Yi
    Zhang, Tao
    Song, Lingyan
    Li, Xiaqin
    INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2012, 39 (01): : 27 - 39
  • [12] Complete coverage control for nonholonomic mobile robots in dynamic environments
    Guo, Yi
    Balakrishnan, Mohanakrishnan
    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, : 1704 - +
  • [13] A NOVEL GA-BASED FUZZY CONTROLLER FOR MOBILE ROBOTS IN DYNAMIC ENVIRONMENTS WITH MOVING OBSTACLES
    Tan, Suo
    Yang, Simon X.
    Zhu, Anmin
    INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2011, 26 (02): : 212 - 228
  • [14] Smooth formation navigation of multiple mobile robots for avoiding moving obstacles
    Chen, Xin
    Li, Yangmin
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2006, 4 (04) : 466 - 479
  • [15] Dynamic Programming Agent for Mobile Robot Navigation with Moving Obstacles
    Tamilselvi, D.
    Rajalakshmi, P.
    Shalinie, S. Mercy
    IAMA: 2009 INTERNATIONAL CONFERENCE ON INTELLIGENT AGENT & MULTI-AGENT SYSTEMS, 2009, : 117 - 121
  • [16] Navigation of mobile robots in the presence of obstacles
    Abiyev, R.
    Ibrahim, D.
    Erin, B.
    ADVANCES IN ENGINEERING SOFTWARE, 2010, 41 (10-11) : 1179 - 1186
  • [17] Reactive Collision Avoidance for Nonholonomic Vehicles in Dynamic Environments with Obstacles of Arbitrary Shape
    Haraldsen, Aurora
    Wiig, Martin S.
    Pettersen, Kristin Y.
    IFAC PAPERSONLINE, 2021, 54 (14): : 155 - 160
  • [18] Tracking Control for Uncertain Dynamic Nonholonomic Mobile Robots with Unknown Visual Parameters
    Yang, Fang
    Wang, Chaoli
    Wang, Baolei
    2011 9TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2011), 2011, : 1189 - 1194
  • [19] A 3D Reactive Collision Free Navigation Strategy for Nonholonomic Mobile Robots
    Elmokadem, Taha
    2018 37TH CHINESE CONTROL CONFERENCE (CCC), 2018, : 4661 - 4666
  • [20] Avoiding deadlocks of mobile robots in narrow passages of environments populated with moving obstacles
    Dakulovic, Marija
    Dimitrijevic, Borko
    Petrovic, Ivan
    2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2011, : 936 - 941
12345