Title :
Adaptive navigation of mobile robots with obstacle avoidance
Author :
Fujimori, Atsushi ; Nikiforuk, Peter N. ; Gupta, Madan M.
Author_Institution :
Dept. of Energy & Mech. Eng., Shizuoka Univ., Hamamatsu, Japan
fDate :
8/1/1997 12:00:00 AM
Abstract :
A local navigation technique with obstacle avoidance, called adaptive navigation, is proposed for mobile robots in which the dynamics of the robot are taken into consideration. The only information needed about the local environment is the distance between the robot and the obstacles in three specified directions. The navigation law is a first-order differential equation and navigation to the goal and obstacle avoidance are achieved by switching the direction angle of the robot. The effectiveness of the technique is demonstrated by means of simulation examples
Keywords :
adaptive systems; differential equations; mobile robots; path planning; real-time systems; robot dynamics; adaptive navigation; differential equation; dynamics; mobile robots; obstacle avoidance; real time systems; Collision avoidance; Differential equations; Mobile robots; Motion planning; Navigation; Robot kinematics; Robot sensing systems; Robotics and automation; Sensor systems; Two dimensional displays;
Journal_Title :
Robotics and Automation, IEEE Transactions on
