Novel Motion Planning Method for Mobile Robots Using Velocity Obstacle

被引：0
|
作者：
Gyenes, Zoltan [1 ]
Szadeczky-Kardoss, Emese Gincsaine [1 ]
机构：
[1] Budapest Univ Technol & Econ, Dept Control Engn & Informat Technol, Magyar Tudosok Korutja 2, H-1117 Budapest, Hungary
来源：
ACTA POLYTECHNICA HUNGARICA | 2020年 / 17卷 / 09期
关键词：
motion planning; mobile robots; cost function; dynamic environment; obstacle avoidance; DYNAMIC ENVIRONMENTS; NAVIGATION;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
The main concept of this article is to introduce a cost function based algorithm for the reactive motion planning problem of mobile robots. With the usage of the cost function, different strategies can be combined. Next to speed and safety, several aspects can play a role in the motion. i.e. Traffic Regulation rules or lane-keeping. The different methods can be used separately as well, but the combination of methods provides an appropriate solution. The introduced reactive motion planning algorithm generates a collision-free solution for the agent in dynamic environment.
引用
收藏
页码：221 / 240
页数：20
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