REACTIVE BEHAVIORS OF FAST MOBILE ROBOTS

被引：12
作者：
ZAPATA, R
LEPINAY, P
THOMPSON, P
机构：
[1] Laboratoire d'Automatique et de Microélectronique, Université de Montpellier II, Montpellier
来源：
JOURNAL OF ROBOTIC SYSTEMS | 1994年 / 11卷 / 01期
关键词：
D O I：
10.1002/rob.4620110104
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This article addresses the modeling of the reactive behaviors of a mobile robot moving in unstructured and dynamic environments. The main focus is on the software structure devoted to obstacle avoidance when geometric models do not exist and when obstacles can be dynamic. The first part concerns the model of the robot/environment interaction. This model is based on the definition of the interaction component (deformable virtual zone) of an internal state of the robot and leads to avoidance-oriented control laws. The second part describes the derivation of the state equation and one of its implementations on a fast outdoor mobile robot. (C) 1994 John Wiley & Sons, Inc.
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页码：13 / 20
页数：8
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