A Novel Obstacle Avoidance Control Algorithm in a Dynamic Environment

被引：0
|
作者：
Mallik, Galib Rahaman [1 ]
Sinha, Arpita [1 ]
机构：
[1] Indian Inst Technol, Bombay 400076, Maharashtra, India
来源：
2013 IEEE SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE FOR SECURITY AND DEFENSE APPLICATIONS (CISDA) | 2013年
关键词：
TARGET-TRACKING CONTROL; COLLISION-AVOIDANCE;
D O I：
暂无
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 is concerned with obstacle avoidance control strategy of unicycle mobile robot in a dynamic environment. We propose a control algorithm based on collision cone approach to avoid collision with stationary obstacle. The algorithm is simple and easy to implement in the real world applications. The proposed algorithm is extended to the case of moving obstacle as well as irregular obstacle. The effectiveness of the proposed control algorithms are demonstrated through various simulations.
引用
收藏
页码：57 / 63
页数：7
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