Dynamic Obstacle Avoidance for an Omnidirectional Mobile Robot
نویسندگان
چکیده
منابع مشابه
Dynamic Obstacle Avoidance for an Omnidirectional Mobile Robot
We have established a novel method of obstacle-avoidance motion planning for mobile robots in dynamic environments, wherein the obstacles are moving with general velocities and accelerations and their motion profiles are not pre-known. A hybrid system is presented in which a global deliberate approach is applied to determine the motion in the desired path line (DPL), and a local reactive approa...
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In this paper, the path following controller of an omnidirectional mobile robot (OMR) has been extended in such a way that the forward velocity has been optimized and the actuator velocity constraints have been taken into account. Both have been attained through the proposed model predictive control (MPC) framework. The forward velocity has been included into the objective function, while the a...
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Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the e...
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Obstacle Avoidance for a Mobile Robot A notorious problem in mobile obstacle avoidance is the detection and avoidance of obstacles. This thesis evaluates several well-known methods for controlling the motion of a mobile robot in an unknown dynamic environment. One of these methods, the Global Dynamic Window Approach, is selected and, using a laser range finder as the only range sensor, the meth...
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Article history: Received 25 June 2014 Received in revised form 8 July 2014 Accepted 25 August July 2014 Available online 29 September 2014
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ژورنال
عنوان ژورنال: Journal of Robotics
سال: 2010
ISSN: 1687-9600,1687-9619
DOI: 10.1155/2010/901365