Concepts for dynamic obstacle avoidance and their extended application in underground navigation
نویسندگان
چکیده
An effective approach to dynamic obstacle avoidance for mobile robots is described in this paper. The main concepts in this approach include local Polar Object Chart (POC) for defining possible ways out, obstacle definition, detour mode, anchor for preventing getting lost, steering delimiting and velocity delimiting. The presented concepts and methods were tested and verified both by simulations and experiments on a developed prototype industrial Automated Guided Vehicle (AGV). This paper also presents the extended application of some of the concepts in underground navigation. © 2002 Elsevier Science B.V. All rights reserved.
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ورودعنوان ژورنال:
- Robotics and Autonomous Systems
دوره 42 شماره
صفحات -
تاریخ انتشار 2003