Planning and obstacle avoidance in mobile robotics

被引：76
|
作者：
Sgorbissa, Antonio [1 ]
Zaccaria, Renato [1 ]
机构：
[1] Univ Genoa, DIST, I-16145 Genoa, Italy
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2012年 / 60卷 / 04期
关键词：
Mobile robots; Autonomous navigation; Planning; Reactive and local methods; Hybrid architectures; DYNAMIC WINDOW APPROACH; NAVIGATION; VEHICLES;
D O I：
10.1016/j.robot.2011.12.009
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper focuses on the navigation subsystem of a mobile robot which operates in human environments to carry out different tasks, such as transporting waste in hospitals or escorting people in exhibitions. The paper describes a hybrid approach (Roaming Trails), which integrates a priori knowledge of the environment with local perceptions in order to carry out the assigned tasks efficiently and safely: that is, by guaranteeing that the robot can never be trapped in deadlocks even when operating within a partially unknown dynamic environment. The article includes a discussion about the properties of the approach, as well as experimental results recorded during real-world experiments. (C) 2012 Elsevier B.V. All rights reserved.
引用
收藏
页码：628 / 638
页数：11
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