Dynamic Obstacle Avoidance for an Omnidirectional Mobile Robot
Joint Authors
Williams, Robert L.
Wu, Jianhua
Source
Issue
Vol. 2010, Issue 2010 (31 Dec. 2010), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2010-11-21
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
We have established a novel method of obstacle-avoidance motion planning for mobile robots in dynamic environments, wherein the obstacles are moving with general velocities and accelerations, and their motion profiles are not preknown.
A hybrid system is presented in which a global deliberate approach is applied to determine the motion in the desired path line (DPL), and a local reactive approach is used for moving obstacle avoidance.
A machine vision system is required to sense obstacle motion.
Through theoretical analysis, simulation, and experimental validation applied to the Ohio University RoboCup robot, we show the method is effective to avoid collisions with moving obstacles in a dynamic environment.
American Psychological Association (APA)
Williams, Robert L.& Wu, Jianhua. 2010. Dynamic Obstacle Avoidance for an Omnidirectional Mobile Robot. Journal of Robotics،Vol. 2010, no. 2010, pp.1-14.
https://search.emarefa.net/detail/BIM-506536
Modern Language Association (MLA)
Williams, Robert L.& Wu, Jianhua. Dynamic Obstacle Avoidance for an Omnidirectional Mobile Robot. Journal of Robotics No. 2010 (2010), pp.1-14.
https://search.emarefa.net/detail/BIM-506536
American Medical Association (AMA)
Williams, Robert L.& Wu, Jianhua. Dynamic Obstacle Avoidance for an Omnidirectional Mobile Robot. Journal of Robotics. 2010. Vol. 2010, no. 2010, pp.1-14.
https://search.emarefa.net/detail/BIM-506536
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-506536