Embedding Obstacle Avoidance to Trajectory Tracking for Unicycle Mobile Robots

被引：0
|
作者：
Resende, Cassius Z. [1 ]
Carelli, Ricardo [2 ]
Bastos-Filho, Teodiano F. [1 ]
Sarcinelli-Filho, Mario [1 ]
机构：
[1] Fed Univ Espirito Santo UFES, Dept Elect Engn, Av Fernando Ferrari 514, BR-29075910 Vitoria, ES, Brazil
[2] Natl Univ San Juan UNSJ, Inst Automat INAUT, 11095400 San Juan, Argentina
来源：
2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2012年
关键词：
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：
This paper proposes a new reactive method to avoid obstacles during trajectory tracking, considering unicycle mobile robots navigating in semi-structured environments, which can be used in association with any trajectory tracking controller. A meaningful improvement in the obstacle avoidance process is achieved analyzing the layout of the obstacles in relation to the planned trajectory. Experimental results show that the evasion algorithm is fairly efficient, reducing the time spent to avoid obstacles and shortening the path traveled by the robot during such procedure as well.
引用
收藏
页码：2228 / 2233
页数：6
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