OBSTACLE AVOIDANCE OF MOBILE ROBOTS BASED ON DYNAMIC WINDOW APPROACH

被引：0

作者：

Kiss, Domokos ^{[1
]}

Tevesz, Gabor ^{[1
]}

机构：

[1] Budapest Univ Technol & Econ, Dept Automat & Appl Informat, Budapest, Hungary

来源：

PROCEEDINGS OF 11TH INTERNATIONAL CARPATHIAN CONTROL CONFERENCE, 2010 | 2010年

关键词：

Mobile Robots; Obstacle Avoidance; Reactive Methods; Dynamic Window;

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：

A reactive mobile robot navigation method is presented which can be used by robots with differential drive, designed to operate in lightly cluttered indoor environments. This method uses a modified dynamic window approach for avoidance of static and dynamic obstacles. Motion control commands are carried out directly in a two-dimensional space of translational and angular velocities. Dynamic constraints of the robot are taken into account by reducing the velocity search space to a dynamic window, which consists of velocities reachable within a short time interval. Simulation results are presented which reinforce the effectiveness of the method.

引用

页码：75 / 78

页数：4

共 50 条

[31] Obstacle avoidance of multi mobile robots based on hierarchical reinforcement learning
Zu, Li-Nan
Tian, Yan-Tao
Mei, Hao
Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition), 2006, 36 (SUPPL. 2): : 108 - 112
[32] Real-time Obstacle Avoidance for AUV Based on Reinforcement Learning and Dynamic Window Approach
Shen, Yue
Xu, Han
Wang, Dianrui
Zhang, Yixiao
Yan, Tianhong
He, Bo
GLOBAL OCEANS 2020: SINGAPORE - U.S. GULF COAST, 2020,
[33] Formation Control and Obstacle Avoidance for Multiple Mobile Robots
YANG TianTian LIU ZhiYuan CHEN Hong PEI Run Department of Control Science and EngineeringHarbin Institute of TechnologyHarbin PRChina Department of Control Science and EngineeringJilin UniversityChangchun PRChina
自动化学报, 2008, (05) : 588 - 592
[34] Formation control of mobile robots with active obstacle avoidance
Liu, Shi-Cai
Tan, Da-Long
Liu, Guang-Jun
Zidonghua Xuebao/Acta Automatica Sinica, 2007, 33 (05): : 529 - 535
[35] OBSTACLE-AVOIDANCE NAVIGATION OF MULTIPLE MOBILE ROBOTS
罗青
李智军
吕恬生
Journal of Shanghai Jiaotong University, 2002, (02) : 238 - 243
[36] Formation Control of Mobile Robots with Active Obstacle Avoidance
LIU ShiCai TAN DaLong LIU GuangJun Robotics LaboratoryShenyang Institute of AutomationChinese Academy of SciencesShenyang PRChina Graduate University of the Chinese Academy of SciencesBeijing PRChina Department of Aerospace EngineeringRyerson UniversityToronto MSB KCanada
自动化学报, 2007, (05) : 529 - 535
[37] Coordinating multiple mobile robots for obstacle avoidance using cloud computing
Song, Kai-Tai
Sun, Yu-Xuan
ASIAN JOURNAL OF CONTROL, 2021, 23 (03) : 1225 - 1236
[38] Feedback stabilization of nonholonomic mobile robots with obstacle avoidance
Xie Xiaoli
Yang Tiantian
Liu Zhiyuan
2006 CHINESE CONTROL CONFERENCE, VOLS 1-5, 2006, : 695 - +
[39] Mobile non-holonomic robots: Trajectory generation and obstacle avoidance
Gacovski, ZM
Dimirovski, GM
COMPUTATIONAL INTELLIGENCE FOR MODELLING, CONTROL & AUTOMATION - EVOLUTIONARY COMPUTATION & FUZZY LOGIC FOR INTELLIGENT CONTROL, KNOWLEDGE ACQUISITION & INFORMATION RETRIEVAL, 1999, 55 : 166 - 171
[40] Coordination control and obstacle avoidance for a team of mobile robots in unknown environment
Roy, Sucheta
Assad-Uz-Zaman, Md
Rahman, Mohammad Habibur
Miah, Md Suruz
INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL, 2020, 34 (04) : 316 - 327

← 1 2 3 4 5 →