DocumentCode
2244413
Title
Mobile Robot Path Planning in a Simple Unknown Environment
Author
Dianyong, Yu ; Jinghua, Chen
Author_Institution
Robot Res. Inst., Harbin Inst. of Technol.
fYear
2004
fDate
22-26 Aug. 2004
Firstpage
152
Lastpage
156
Abstract
This paper proposes the robot´s motion model and control model based on the kinetic analysis of wheel-type mobile robot. In paper, we can use lines and circles to plan paths, and correct the errors and some deviations by path tracing and fuzzy controlling. The results of the simulated and actual tests have demonstrated that our path planning algorithm can basically perform obstacle avoidance in the simple unknown environments
Keywords
collision avoidance; fuzzy control; geometry; mobile robots; fuzzy controlling; kinetic analysis; mobile robot; obstacle avoidance; path planning; path tracing; robot control; Collision avoidance; Integral equations; Kinetic theory; Mobile robots; Orbital robotics; Path planning; Robot motion; Robot sensing systems; Virtual reality; Wheels; fuzzy obstacle avoidance; mobile robot; path planning; path tracing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on
Conference_Location
Shenyang
Print_ISBN
0-7803-8614-8
Type
conf
DOI
10.1109/ROBIO.2004.1521768
Filename
1521768
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