Title :
Motion planning for mobile robots in a dynamic environment with moving obstacles
Author :
Pan, Tai-Jee ; Luo, Ren C.
Author_Institution :
Dept. of Electr. & Comput. Eng., North Carolina State Univ., Raleigh, NC, USA
Abstract :
The objective of this study is to develop a method for mobile robot motion planning in the presence of moving obstacles. The concept of traversability vectors is used to analyze the spatial relationship between the robot and moving obstacles. Given a predefined path, the occupancy of the path by moving obstacles can be detected and registered on the constraint map. Obstacles on this map represent time constraints on the robot motion along the path. A search algorithm is then developed to coordinate the robot motion. Simulation results for this approach are discussed
Keywords :
mobile robots; navigation; planning (artificial intelligence); search problems; artificial intelligence; dynamic environment; mobile robots; motion planning; moving obstacles; navigation; path planning; search algorithm; traversability vectors; Computational geometry; Intelligent robots; Intelligent systems; Mobile robots; Motion planning; Orbital robotics; Robot kinematics; Robot motion; Shape; Time factors;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126043
