Obstacle avoidance for mobile robots based on relative coordinates

Author

Feng, Zhang ; Dalong, Tan ; Yingzi, Wei

Author_Institution

Robotics Lab., Chinese Acad. of Sci., Shenyang, China

Volume

1

fYear

2003

Firstpage

616

Abstract

This paper describes a novel obstacles avoidance method for mobile robots; based on relative coordinates; that is, we describe a method whereby each robot may determine the pose of others relative to itself. This method does not require GPS, landmarks, or any kind of environment model. Instead, robots make direct measurements of the relative pose of nearby robots, predict the danger field by the collision cone between the relative velocity of robot with respect to obstacles and the LOS (line-of-sight), and adjust the varieties of robot´s velocity and direction real time and dynamically in acceleration space. The simulation results verify the efficiency of the method.

Keywords

collision avoidance; mobile robots; collision cone; danger field prediction; line-of-sight; mobile robots; obstacle avoidance; relative coordinates; relative pose; relative velocity; Accelerometers; Global Positioning System; Mobile robots; Orbital robotics; Path planning; Robot kinematics; Robotics and automation; Service robots; Vehicles; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on

Print_ISBN

0-7803-7925-X

Type

conf

DOI

10.1109/RISSP.2003.1285645

Filename

1285645