Some Experiments on Reactive Obstacle Avoidance for a Mobile Robot

被引：1

作者：

Lopez-Padilla, Rigoberto ^{[1
]}

Ayala-Ramirez, Victor ^{[1
]}

Sanchez-Yanez, Raul E. ^{[1
]}

机构：

[1] Univ Guanajuato FIMEE, Salamanca 36700, Gto, Mexico

来源：

18TH INTERNATIONAL CONFERENCE ON ELECTRONICS, COMMUNICATIONS AND COMPUTERS (CONIELECOMP 2008), PROCEEDINGS | 2008年

关键词：

mobile robots; reactive navigation; obstacle avoidance;

D O I：

10.1109/CONIELECOMP.2008.21

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

An approach to reactive obstacle avoidance is proposed. The concept of an artificial protection field is introduced and then once a path is planned, the information of a laser range finder is used for obstacle detection. If necessary, a path recalculation is then performed. Experimental tests have been implemented on P3-AT mobile robot under several scenarios.

引用

页码：193 / 196

页数：4

共 8 条

[1] Borenstein J., 1990, Proceedings 1990 IEEE International Conference on Robotics and Automation (Cat. No.90CH2876-1), P572, DOI 10.1109/ROBOT.1990.126042
[2] The dynamic window approach to collision avoidance
Fox, D
Burgard, W
Thrun, S
[J]. IEEE ROBOTICS & AUTOMATION MAGAZINE, 1997, 4 (01) : 23 - 33
[3] REAL-TIME OBSTACLE AVOIDANCE FOR MANIPULATORS AND MOBILE ROBOTS
KHATIB, O
[J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1986, 5 (01) : 90 - 98
[4] Reactive path deformation for nonholonomic mobile robots
Lamiraux, F
Bonnafous, D
Lefebvre, O
[J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2004, 20 (06): : 967 - 977
[5] LAMIRAUX F, 2004, P WORLD AUT C 2004 J, V15, P473
[6] MINGUEZ J, 2005, IEEE RSJ INT C INT R, P2486
[7] QUINLAN S, 1993, PROCEEDINGS : IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, pB802
[8] Reactive obstacle avoidance for mobile robots that operate in confined 3D workspaces
Vikenmark, D.
Minguez, J.
[J]. CIRCUITS AND SYSTEMS FOR SIGNAL PROCESSING , INFORMATION AND COMMUNICATION TECHNOLOGIES, AND POWER SOURCES AND SYSTEMS, VOL 1 AND 2, PROCEEDINGS, 2006, : 1246 - 1251

← 1 →