A simple biologically inspired algorithm for collision-free navigation of a unicycle-like robot in dynamic environments with moving obstacles

被引：78
|
作者：
Savkin, Andrey V. [1 ]
Wang, Chao [1 ]
机构：
[1] Univ New S Wales, Sch Elect Engn & Telecommun, Sydney, NSW 2052, Australia
来源：
ROBOTICA | 2013年 / 31卷
基金：
澳大利亚研究理事会;
关键词：
Moving obstacles; Biologically inspired guidance; Collision avoidance; Obstacle avoidance; Wheeled mobile robots; Biomimetic navigation; Navigation in unknown dynamic environments; MOBILE ROBOTS; AVOIDANCE;
D O I：
10.1017/S0263574713000313
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
We present a simple biologically inspired strategy for the navigation of a unicycle-like robot towards a target while avoiding collisions with moving obstacles. A mathematically rigorous analysis of the proposed approach is provided. The performance of the algorithm is demonstrated via experiments with a real robot and extensive computer simulations.
引用
收藏
页码：993 / 1001
页数：9
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