Navigation of mobile robots with collision avoidance for moving obstacles

被引：4
|
作者：
Fujimori, A [1 ]
机构：
[1] Shizuoka Univ, Dept Mech Engn, Hamamatsu, Shizuoka 4328561, Japan
来源：
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING | 2005年 / 219卷 / I1期
关键词：
mobile robot; collision avoidance; moving obstacle;
D O I：
10.1243/095440705X9416
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 presents a collision avoidance technique of mobile robots for moving obstacles in unknown environments. The mobile robot considered in this paper has a sensor measuring the distance between the robot and a moving obstacle, such as an ultrasonic sonar or infrared sensor. Avoidance behaviour for moving obstacles is proposed. The collision avoidance conditions for two typical aspects under which the robot encounters a moving obstacle are derived and are used as guidelines for designing the navigation parameters. The effectiveness of the proposed technique is demonstrated by numerical simulation examples.
引用
收藏
页码：99 / 110
页数：12
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