Title :
A reactive algorithm for safe navigation of a wheeled mobile robot among moving obstacles
Author :
Savkin, Andrey V. ; Chao Wang
Author_Institution :
Sch. of Electr. Eng. & Telecommun., Univ. of New South Wales, Sydney, NSW, Australia
Abstract :
We present a simple biologically inspired strategy for navigation a unicycle-like robot towards a target while avoiding collisions with moving obstacles. Mathematically rigorous analysis of the proposed approach is provided. The convergence and performance of the algorithm is demonstrated via extensive computer simulations.
Keywords :
collision avoidance; convergence; mathematical analysis; mobile robots; biologically inspired strategy; collision avoidance; computer simulations; mathematically rigorous analysis; moving obstacles; reactive algorithm; safe navigation; unicycle-like robot; wheeled mobile robot; Collision avoidance; Mobile robots; Navigation; Robot kinematics; Vectors; Vehicles; biologically inspired robot navigation; biomimetic robot navigation; collision avoidance; moving obstacles; obstacle avoidance; wheeled mobile robots;
Conference_Titel :
Control Applications (CCA), 2012 IEEE International Conference on
Conference_Location :
Dubrovnik
Print_ISBN :
978-1-4673-4503-3
Electronic_ISBN :
1085-1992
DOI :
10.1109/CCA.2012.6402340
