کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
412493 679646 2009 9 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Velocity planning for a mobile robot to track a moving target — a potential field approach
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Velocity planning for a mobile robot to track a moving target — a potential field approach
چکیده انگلیسی

Potential field method has been widely used for mobile robot path planning, but mostly in a static environment where the target and the obstacles are stationary. The path planning result is normally the direction of the robot motion. In this paper, the potential field method is applied for both path and speed planning, or the velocity planning, for a mobile robot in a dynamic environment where the target and the obstacles are moving. The robot’s planned velocity is determined by relative velocities as well as relative positions among robot, obstacles and targets. The implementation factors such as maximum linear and angular speed of the robot are also considered. The proposed approach guarantees that the robot tracks the moving target while avoiding moving obstacles. Simulation studies are provided to verify the effectiveness of the proposed approach.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 57, Issue 1, 31 January 2009, Pages 55–63
نویسندگان
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