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Avoiding deadlocks of mobile robots in narrow passages of environments populated with moving obstacles (CROSBI ID 574310)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Đakulović, Marija ; Dimitrijević, Borko ; Petrović, Ivan Avoiding deadlocks of mobile robots in narrow passages of environments populated with moving obstacles // CD ROM Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Budimpešta, 2011. str. 936-941

Podaci o odgovornosti

Đakulović, Marija ; Dimitrijević, Borko ; Petrović, Ivan

engleski

Avoiding deadlocks of mobile robots in narrow passages of environments populated with moving obstacles

This paper presents a strategy for deadlock avoidance of mobile robots in narrow passages of environments populated with other moving objects. The proposed strategy detects deadlocks in narrow passages only by robot's perceptive sensors, i.e., no other communication means with moving objects is assumed. The strategy is based on the random multi-access algorithm for the network congestion avoidance. The strategy is implemented within our existing motion planning and control system for mobile robots and thoroughly tested by simulation and experimentally on the Pioneer 3DX mobile robot equipped with SICK LMS-200 laser range finder. The test results illustrate the appropriateness of the proposed strategy for resolving deadlocks in narrow passages.

deadlock avoidance; path planning; obstacle avoidance

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Podaci o prilogu

936-941.

2011.

objavljeno

Podaci o matičnoj publikaciji

CD ROM Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Budimpešta:

978-1-4577-0837-4

2159-6247

Podaci o skupu

IEEE/ASME International Conference on Advanced Intelligent Mechatronics

predavanje

03.07.2011-07.07.2011

Budimpešta, Mađarska

Povezanost rada

Elektrotehnika, Računarstvo, Temeljne tehničke znanosti