An algorithm for safe navigation of mobile robots by a sensor network in dynamic cluttered industrial environments

被引：39

作者：

Li, Hang ^{[1
]}

Savkin, Andrey V. ^{[1
]}

机构：

[1] Univ New South Wales, Sch Elect Engn & Telecommun, Sydney, NSW, Australia

来源：

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2018年 / 54卷

基金：

澳大利亚研究理事会;

关键词：

Obstacle avoidance; Industrial mobile robots; Dynamic environments; Sensor network; Safe robot navigation; Industrial automation; COLLISION-FREE NAVIGATION; WIRELESS SENSOR; PATH; TRACKING; GUIDANCE; VEHICLE; SEARCH;

D O I：

10.1016/j.rcim.2018.05.008

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

Mobile robots have been widely implemented in industrial automation and smart factories. Different types of mobile robots work cooperatively in the workspace to complete some complicated tasks. Therefore, the main requirement for multi-robot systems is collision-free navigation in dynamic environments. In this paper, we propose a sensor network based navigation system for ground mobile robots in dynamic industrial cluttered environments. A range finder sensor network is deployed on factory floor to detect any obstacles in the field of view and perform a global navigation for any robots simultaneously travelling in the factory. The obstacle detection and robot navigation are integrated into the sensor network and the robot is only required for a low-level path tracker. The novelty of this paper is to propose a sensor network based navigation system with a novel artificial potential field (APF) based navigation algorithm. Computer simulations and experiments confirm the performance of the proposed method.

引用

页码：65 / 82

页数：18

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