Embedding Obstacle Avoidance to Trajectory Tracking for Unicycle Mobile Robots

被引：0

作者：

Resende, Cassius Z. ^{[1
]}

Carelli, Ricardo ^{[2
]}

Bastos-Filho, Teodiano F. ^{[1
]}

Sarcinelli-Filho, Mario ^{[1
]}

机构：

[1] Fed Univ Espirito Santo UFES, Dept Elect Engn, Av Fernando Ferrari 514, BR-29075910 Vitoria, ES, Brazil

[2] Natl Univ San Juan UNSJ, Inst Automat INAUT, 11095400 San Juan, Argentina

来源：

2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2012年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a new reactive method to avoid obstacles during trajectory tracking, considering unicycle mobile robots navigating in semi-structured environments, which can be used in association with any trajectory tracking controller. A meaningful improvement in the obstacle avoidance process is achieved analyzing the layout of the obstacles in relation to the planned trajectory. Experimental results show that the evasion algorithm is fairly efficient, reducing the time spent to avoid obstacles and shortening the path traveled by the robot during such procedure as well.

引用

页码：2228 / 2233

页数：6

共 50 条

[31] Planning and obstacle avoidance for mobile robots [J].

Papadopoulos, E ;

Poulakakis, I .

2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2001, :3967-3972

[32] Obstacle avoidance algorithms for mobile robots [J].

Budakova, Dilyana ;

Pavlova, Galya ;

Trifonov, Roumen ;

Chavdarov, Ivan .

COMPUTER SYSTEMS AND TECHNOLOGIES, 2019, :78-83

[33] Trajectory Tracking with Obstacle Avoidance for Nonholonomic Mobile Robots with Diamond-Shaped Velocity Constraints and Output Performance Specifications [J].

Trakas, Panagiotis S. ;

Anogiatis, Spyridon I. ;

Bechlioulis, Charalampos P. .

SENSORS, 2024, 24 (14)

[34] Fuzzy Target Tracking and Obstacle Avoidance of Mobile Robots with a Stereo Vision System [J].

Chao, Chan-Hong ;

Hsueh, Bo-Yan ;

Hsiao, Ming-Ying ;

Tsai, Shun-Hung ;

Li, Tzuu-Hseng S. .

INTERNATIONAL JOURNAL OF FUZZY SYSTEMS, 2009, 11 (03) :183-191

[35] Real-time tracking control with obstacle avoidance of multiple mobile robots [J].

Hu, E ;

Yang, SX ;

Chiu, DKY ;

Smith, WR .

PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL, 2002, :87-92

[36] Fuzzy Logic Tracking Control for Unicycle Mobile Robots [J].

Castillo, Oscar ;

Aguilar, Luis T. ;

Cardenas, Selene .

ENGINEERING LETTERS, 2006, 13 (02)

[37] AVOIDANCE TRAJECTORY DESIGN FOR MOBILE ROBOTS [J].

Pozna, Claudiu ;

Alexandru, Catalin .

ANNALS OF DAAAM FOR 2008 & PROCEEDINGS OF THE 19TH INTERNATIONAL DAAAM SYMPOSIUM: INTELLIGENT MANUFACTURING & AUTOMATION: FOCUS ON NEXT GENERATION OF INTELLIGENT SYSTEMS AND SOLUTIONS, 2008, :1135-1136

[38] Adaptive navigation of mobile robots with obstacle avoidance [J].

Fujimori, A ;

Nikiforuk, PN ;

Gupta, MM .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1997, 13 (04) :596-602

[39] Formated navigation of mobile robots with obstacle avoidance [J].

Fujimori, Atsushi ;

Saito, Tomoya ;

Bohacs, Gabor .

2006 IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS, VOLS 1 AND 2, 2006, :86-+

[40] Iterative Obstacle Avoidance Algorithm for Mobile Robots [J].

Enrique Sierra-Garcia, J. ;

Millan, Marcos ;

Santos, Matilde .

16TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING MODELS IN INDUSTRIAL AND ENVIRONMENTAL APPLICATIONS (SOCO 2021), 2022, 1401 :480-488

← 1 2 3 4 5 →