DocumentCode
2621254
Title
Sensor-based navigation coordination for mobile robots
Author
Hu, Xiaoming ; Alarcón, David Fuentes ; Gustavi, Tove
Author_Institution
Optimization & Syst. Theor., R. Inst. of Technol., Stockholm, Sweden
Volume
6
fYear
2003
fDate
9-12 Dec. 2003
Firstpage
6375
Abstract
In this paper, the problem of navigation coordination is studied. New results are given for robustly integrating behavior based control systems. In the studied problem formulation, one behavior (path following) is a priori planned, the other (obstacle avoidance) is reactive. The methods are based on the virtual vehicle approach and a regularized automaton.
Keywords
collision avoidance; control system synthesis; feedback; mobile robots; navigation; behavior based control systems; mobile robots; obstacle avoidance; path following; regularized automaton; sensor-based navigation coordination; virtual vehicle approach; Automata; Automatic control; Control systems; Mobile robots; Navigation; Robot control; Robot kinematics; Robust control; Vehicles; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7924-1
Type
conf
DOI
10.1109/CDC.2003.1272338
Filename
1272338
Link To Document