DocumentCode
2825913
Title
A reactive algorithm for safe navigation of a wheeled mobile robot among moving obstacles
Author
Savkin, Andrey V. ; Chao Wang
Author_Institution
Sch. of Electr. Eng. & Telecommun., Univ. of New South Wales, Sydney, NSW, Australia
fYear
2012
fDate
3-5 Oct. 2012
Firstpage
1567
Lastpage
1571
Abstract
We present a simple biologically inspired strategy for navigation a unicycle-like robot towards a target while avoiding collisions with moving obstacles. Mathematically rigorous analysis of the proposed approach is provided. The convergence and performance of the algorithm is demonstrated via extensive computer simulations.
Keywords
collision avoidance; convergence; mathematical analysis; mobile robots; biologically inspired strategy; collision avoidance; computer simulations; mathematically rigorous analysis; moving obstacles; reactive algorithm; safe navigation; unicycle-like robot; wheeled mobile robot; Collision avoidance; Mobile robots; Navigation; Robot kinematics; Vectors; Vehicles; biologically inspired robot navigation; biomimetic robot navigation; collision avoidance; moving obstacles; obstacle avoidance; wheeled mobile robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications (CCA), 2012 IEEE International Conference on
Conference_Location
Dubrovnik
ISSN
1085-1992
Print_ISBN
978-1-4673-4503-3
Electronic_ISBN
1085-1992
Type
conf
DOI
10.1109/CCA.2012.6402340
Filename
6402340
Link To Document