An Integrated Approach to Real-Time Mobile Robot Control in Partially Known Indoor Environments (CROSBI ID 507843)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Seder, Marija ; Maček, Kristijan ; Petrović, Ivan
engleski
An Integrated Approach to Real-Time Mobile Robot Control in Partially Known Indoor Environments
In this paper we present a motion control method for mobile robots in partially known indoor environments based on integration of focussed D* search algorithm and dynamic window local obstacle avoidance algorithm. While focussed D* generates global path, dynamic window local obstacle avoider generates the admissible robot trajectories that ensure safe robot motion. A simple and efficient procedure to the selection of appropriate motion commands based upon alignment of acquired trajectories and global geometric path is proposed. The initial a priori knowledge is used about the environment in the form of the occupancy grid map that is incrementally updated in runtime. The algorithms are verified both by simulation and experiments with a Pioneer 2DX mobile robot equiped with laser range finder.
service robots; motion control
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Podaci o prilogu
1785-1790.
2005.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 31st Annual Conference of the IEEE Industrial Electronics Society (IECON '05)
Raleigh (NC):
Podaci o skupu
Annual Conference of the IEEE Industrial Electronics Society (31 ; 2005)
predavanje
06.11.2005-10.11.2005
Raleigh (NC), Sjedinjene Američke Države