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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

Seder, Marija ; Maček, Kristijan ; Petrović, Ivan An Integrated Approach to Real-Time Mobile Robot Control in Partially Known Indoor Environments // Proceedings of the 31st Annual Conference of the IEEE Industrial Electronics Society (IECON '05). Raleigh (NC), 2005. str. 1785-1790

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

Povezanost rada

Elektrotehnika