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

页码：993 / 1001

页数：9