Reactive Simulation for real-time obstacle avoidance

被引：0

作者：

De Cecco, Mariolino ^{[1
]}

Marcuzzi, Enrico ^{[2
]}

Baglivo, Luca ^{[2
]}

Zaccariotto, Mirco ^{[2
]}

机构：

[1] Univ Trento, Dept Mech Struct Engn, Via Mesiano 77, Trento, Italy

[2] CISAS, Ctr Studies & Activities Space, I-35131 Padua, Italy

来源：

ICINCO 2006: PROCEEDINGS OF THE THIRD INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS: ROBOTICS AND AUTOMATION | 2006年

关键词：

AGV; Reactive Simulation; obstacle avoidance;

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 provides a new approach to the dynamic path planning and obstacle avoidance in unknown and dynamic environments. The system is based on the interaction between four different modules: the Path Planner, the Graph which memorizes all the local target, the "Sentinel", and the module which computes the Reactive Simulation every time an obstacle is detected along the path. The Reactive Simulation takes in account the kinematics model of the vehicle and the actual state conditions to make a real-time simulation in order to predict the trajectory of the differential drive robot that would allow the safe reaching of the local target.

引用

页码：128 / 135

页数：8

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