Simple Obstacle Avoidance for a Mobile Robot Moving through Via Points

被引：0
|
作者：
Dewi, Tresna [1 ,2 ]
Uchiyama, Naoki [1 ]
Sano, Shigenori [1 ]
机构：
[1] Toyohashi Univ Technol, Dept Mech Engn, Toyohashi, Aichi 4418580, Japan
[2] State Polytech Sriwijaya, Elect Engn Study Program, Palembang 30139, Indonesia
来源：
2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) | 2013年
关键词：
FUSION;
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
This study presents simple obstacle avoidance of a mobile robot that moves through via points in a dynamic environment in which obstacles move. This proposed system consists of two controllers, a reference controller and a PI-controller. The reference controller generates a robot motion reference trajectory in reaching goals and avoiding obstacles by referring sensor information in real time trajectory and the PI-controller moves robot to follow the reference trajectory. Computer simulation was performed to test the effectiveness of proposed method and then extended to experimental tests.
引用
收藏
页码：111 / 114
页数：4
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