Title :
Robot navigation in a known environment with unknown moving obstacles
Author :
Ratering, Steven ; Gini, Maria
Author_Institution :
Dept. of Comput. Sci., Minnesota Univ., Minneapolis, MN, USA
Abstract :
The authors propose a type of artificial potential field, a hybrid potential field, to navigate a robot in situations in which the environment is known except for unknown and possibly moving obstacles. The authors show how to compute hybrid potential fields in real time, and use them to control the motions of a real robot. Their method is tested on both a simulated and a real robot. Extensive simulation results are given with up to 50 randomly moving obstacles. A feature matching approach is presented for error position correction. It is validated experimentally with the mobile robot
Keywords :
mobile robots; navigation; path planning; artificial potential field; error position correction; hybrid potential field; known environment; mobile robot; real time motion control; unknown moving obstacles; Cities and towns; Computational modeling; Computer science; Error correction; Motion control; Motion planning; Navigation; Robot sensing systems; Testing; Topology;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291926