DocumentCode
2188171
Title
Collision free navigation using heuristic decision rule
Author
Kang, Daehee ; Hashimoto, Hideki ; Harashima, F.
Author_Institution
Inst. of Ind. Sci., Tokyo Univ., Japan
Volume
4
fYear
1996
fDate
22-28 Apr 1996
Firstpage
3551
Abstract
Real-time obstacle avoidance is essential for the safe operation of mobile robots in a dynamically changing environment. This paper investigates how an mobile robot can respond to unexpected obstacles while following a path planned by a global path planner. The obstacle avoidance problem is formulated using a decision theory to determine an optimal response based on inaccurate sensor data. It is shown that our proposed method avoids properly obstacles through simulation results
Keywords
decision theory; mobile robots; motion control; navigation; path planning; collision free navigation; dynamically changing environment; global path planner; heuristic decision rule; mobile robots; real-time obstacle avoidance; Collision avoidance; Databases; Genetic algorithms; Manipulators; Mobile robots; Navigation; Orbital robotics; Path planning; Robot sensing systems; Sonar;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.509254
Filename
509254
Link To Document