Concepts for dynamic obstacle avoidancc and their extended application in underground navigation

被引：18

作者：

Xu, FY ^{[1
]}

Van Brussel, H ^{[1
]}

Nuttin, M ^{[1
]}

Moreas, R ^{[1
]}

机构：

[1] Katholieke Univ Leuven, Fac Engn, Dept Engn Mech, B-3001 Heverlee, Belgium

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2003年 / 42卷 / 01期

关键词：

mobile robot; automated guided vehicle; obstacle avoidance; underground navigation;

D O I：

10.1016/S0921-8890(02)00323-8

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An effective approach to dynamic obstacle avoidance for mobile robots is described in this paper. The main concepts in this approach include local Polar Object Chart (POC) for defining possible ways out, obstacle definition, detour mode, anchor for preventing getting lost, steering delimiting and velocity delimiting. The presented concepts and methods were tested and verified both by simulations and experiments on a developed prototype industrial Automated Guided Vehicle (AGV). This paper also presents the extended application of some of the concepts in underground navigation. (C) 2002 Elsevier Science B.V. All rights reserved.

引用

页码：1 / 15

页数：15

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