DocumentCode
2643767
Title
Avoidance navigation for mobile robots by using dynamic trajectory
Author
Nagahara, D. ; Takahashi, Satoshi
Author_Institution
Kagawa Univ., Takamatsu
fYear
2007
fDate
17-20 Sept. 2007
Firstpage
2513
Lastpage
2517
Abstract
This paper introduces a control method for obstacle avoidance of a mobile robot. First, the mobile robot detects obstacles by information of both a CCD camera and ultrasonic sensors. Then, using information of both of camera and sensors, the mobile robot generates a dynamic trajectory to go to the goal point avoiding the obstacles. Through some experiments, a usefulness of proposed method is shown.
Keywords
CCD image sensors; collision avoidance; mobile robots; robot vision; ultrasonic transducers; CCD camera; avoidance navigation; dynamic trajectory; mobile robots; obstacle avoidance; ultrasonic sensors; Control systems; Humans; Kernel; Mobile robots; Navigation; Orbital robotics; Robot control; Robot kinematics; Robot sensing systems; Trajectory; Keywords; Optical flow; tracking control; trajectory generation; ultrasonic sensors;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE, 2007 Annual Conference
Conference_Location
Takamatsu
Print_ISBN
978-4-907764-27-2
Electronic_ISBN
978-4-907764-27-2
Type
conf
DOI
10.1109/SICE.2007.4421413
Filename
4421413
Link To Document