2D Stimuli-Induced Equilibrium Point based Algorithm for Real-Time Coverage Safety in Dynamic Environment

被引:0
作者
Yang, Yuan-Rui [1 ]
Amezquita-Semprun, Kendrick [1 ]
Pradeep, Yazhini C. [1 ]
Chen, Peter C. Y. [1 ]
机构
[1] Natl Univ Singapore, Dept Mech Engn, Singapore 117575, Singapore
来源
2018 IEEE INTERNATIONAL CONFERENCE ON INTELLIGENCE AND SAFETY FOR ROBOTICS (ISR) | 2018年
关键词
SENSOR; CONNECTIVITY; FIELD;
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
In this paper, we propose a novel reactive navigation algorithm for obstacles avoidance in a geometrically changing environment. Our navigation strategy is intended to guide a mobile robot through a dynamic environment in a safe manner, while minimizing the coverage overlapping when traversing toward the goal. The algorithm defines stimuli induced equilibrium points between each pair of obstacles to serve as waypoints for a robot while moving toward the target. Some simulation results are included to illustrate the robustness and satisfying performance of the proposed approach.
引用
收藏
页码:515 / 520
页数:6
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