Dynamic window based approach to mobile robot motion control in the presence of moving obstacles (CROSBI ID 527480)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Seder, Marija ; Petrović, Ivan
engleski
Dynamic window based approach to mobile robot motion control in the presence of moving obstacles
This paper presents a motion control method for mobile robots in partially unknown environments populated with moving obstacles. The proposed method is based on the integration of focused D* search algorithm and dynamic window local obstacle avoidance algorithm with some adaptations that provide efficient avoidance of moving obstacles. The moving obstacles are modelled as moving cells in the occupancy grid map and their motion is predicted by applying a procedure similar to the dynamic window approach. The collision points of the robot predicted trajectory and moving cells predicted trajectories form the new fictive obstacles in the environment, which should be avoided. The algorithms are implemented and verified using a Pioneer 3DX mobile robot equipped with laser range finder.
path planning; moving obstacle avoiding; motion control
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Podaci o prilogu
1986-1991-x.
2007.
objavljeno
Podaci o matičnoj publikaciji
CD ROM Proceedings of the 2007 IEEE International Conference on Robotics and Automation
Rim:
Podaci o skupu
Nepoznat skup
predavanje
29.02.1904-29.02.2096