A Reactive Collision Avoidance Approach for Mobile Robot in Dynamic Environments
نویسندگان
چکیده
منابع مشابه
A Reactive Collision Avoidance Approach for Mobile Robot in Dynamic Environments
This paper describes a novel reactive obstacle avoidance approach for mobile robot navigation in unknown and dynamic environment. This approach is developed based on the “situated-activity paradigm” and a “divide and conquer” strategy which steers the robot to move among unknown obstacles and towards a target without collision. The proposed approach entitled the Virtual Semi-Circles (VSC). The ...
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Collision avoidance is a fundamental requirement for mobile robots. Avoiding moving obstacles (also termed dynamic obstacles) with unpredictable direction changes, such as humans, is more challenging than avoiding moving obstacles whose motion can be predicted. Precise information on the future moving directions of humans is unobtainable for use in navigation algo...
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This paper evaluates and compare three stateof-the-art collision avoidance schemes designed to operate in dynamic environments. The first one is an extension of the popular Dynamic Window approach; it is henceforth called TVDW which stands for Time-Varying Dynamic Window. The second one called NLVO builds upon the concept of Non Linear Velocity Obstacle which is a generalization of the Velocity...
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Navigation and collision avoidance are major areas of research in mobile robotics that involve varying degrees of uncertainty. In general, the problem consists of achieving sensor based motion control of a mobile robot among obstacles in structured and/or unstructured environments with collision-free motion as the priority. A fuzzy logic based intelligent control strategy has been developed her...
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Related to human-robot interaction, safety is not a simple attribute encompassed by the concept of dependability: it is a central requirement for the risks occurring during the motion of articulated robot manipulators. Both industrial and service robots need strategies for improving safety of people in their workspace. Collision avoidance algorithms are therefore crucial, and reactive technique...
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ژورنال
عنوان ژورنال: Journal of Automation and Control Engineering
سال: 2013
ISSN: 2301-3702
DOI: 10.12720/joace.1.1.16-20