Title :
On line moving obstacles avoidance by velocity potential field
Author :
Yiwen, Zhao ; Dalong, Tan
Author_Institution :
Inst. of Autom., Acad. Sinica, Shenyang, China
Abstract :
This paper describes an online obstacle avoidance approach following the idea of potential field. By building a velocity potential field the method uses relative velocity information. It provides the mobile robot with a more efficient motion in a dynamic world with moving obstacles. It can also be used as a distributed algorithm applied to the cooperative avoidance motion of multiple mobile robots
Keywords :
collision avoidance; cooperative systems; mobile robots; online operation; cooperative avoidance motion; distributed algorithm; multiple mobile robots; online moving obstacles avoidance; relative velocity information; velocity potential field; Distributed algorithms; Mobile robots; Robotics and automation;
Conference_Titel :
Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on
Conference_Location :
Hefei
Print_ISBN :
0-7803-5995-X
DOI :
10.1109/WCICA.2000.863448
