Formated navigation of mobile robots with obstacle avoidance

被引：0
|
作者：
Fujimori, Atsushi [1 ]
Saito, Tomoya [1 ]
Bohacs, Gabor [2 ]
机构：
[1] Shizuoka Univ, Dept Mech Engn, Hamamatsu, Shizuoka, Japan
[2] Budapest Univ Technol & Econ, Dept Building Machines, Mat Handling Machines & Ind Logist, H-1521 Budapest, Hungary
来源：
2006 IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS, VOLS 1 AND 2 | 2006年
关键词：
mobile robots; tracking systems; navigation; non-linear control; discretization;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper presents a formated navigation with obstacle avoidance in which a modified leader-follower technique is combined with reactive collision avoidance behaviors. This paper indicates a couple of problems in which the obstacle avoidance is embedded in formated navigation: one is the singularity of the leader robot on the tracking control and another is the avoidance behavior of the follower robot. This paper proposes techniques for solving them and demonstrates the effectiveness in simulation and experiment.
引用
收藏
页码：86 / +
页数：2
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