کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413462 680517 2010 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
A local obstacle avoidance method for mobile robots in partially known environment
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
A local obstacle avoidance method for mobile robots in partially known environment
چکیده انگلیسی

Local obstacle avoidance is a principle capability for mobile robots in unknown or partially known environment. A series of velocity space methods including the curvature velocity method (CVM), the lane curvature method (LCM) and the beam curvature method (BCM) formulate the local obstacle avoidance problem as one of constrained optimization in the velocity space by taking the physical constraints of the environment and the dynamics of the vehicle into account. We present a new local obstacle avoidance approach that combines the prediction model of collision with the improved BCM. Not only does this method inherit the quickness of BCM and the safety of LCM, but also the proposed prediction based BCM (PBCM) can be used to avoid moving obstacles in dynamic environments.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 58, Issue 5, 31 May 2010, Pages 425–434
نویسندگان
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