DocumentCode
1409880
Title
Adaptive navigation of mobile robots with obstacle avoidance
Author
Fujimori, Atsushi ; Nikiforuk, Peter N. ; Gupta, Madan M.
Author_Institution
Dept. of Energy & Mech. Eng., Shizuoka Univ., Hamamatsu, Japan
Volume
13
Issue
4
fYear
1997
fDate
8/1/1997 12:00:00 AM
Firstpage
596
Lastpage
601
Abstract
A local navigation technique with obstacle avoidance, called adaptive navigation, is proposed for mobile robots in which the dynamics of the robot are taken into consideration. The only information needed about the local environment is the distance between the robot and the obstacles in three specified directions. The navigation law is a first-order differential equation and navigation to the goal and obstacle avoidance are achieved by switching the direction angle of the robot. The effectiveness of the technique is demonstrated by means of simulation examples
Keywords
adaptive systems; differential equations; mobile robots; path planning; real-time systems; robot dynamics; adaptive navigation; differential equation; dynamics; mobile robots; obstacle avoidance; real time systems; Collision avoidance; Differential equations; Mobile robots; Motion planning; Navigation; Robot kinematics; Robot sensing systems; Robotics and automation; Sensor systems; Two dimensional displays;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.611330
Filename
611330
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