DocumentCode
2990287
Title
A novel obstacle avoidance control algorithm in a dynamic environment
Author
Mallik, Galib Rahaman ; Sinha, Arpita
Author_Institution
Syst. & Control Eng., Indian Inst. of Technol. Bombay, Mumbai, India
fYear
2013
fDate
16-19 April 2013
Firstpage
57
Lastpage
63
Abstract
This paper is concerned with obstacle avoidance control strategy of unicycle mobile robot in a dynamic environment. We propose a control algorithm based on collision cone approach to avoid collision with stationary obstacle. The algorithm is simple and easy to implement in the real world applications. The proposed algorithm is extended to the case of moving obstacle as well as irregular obstacle. The effectiveness of the proposed control algorithms are demonstrated through various simulations.
Keywords
collision avoidance; mobile robots; collision avoidance; dynamic environment; irregular obstacle; moving obstacle; obstacle avoidance control algorithm; stationary obstacle; unicycle mobile robot; Collision avoidance; Equations; Heuristic algorithms; Mathematical model; Sensors; Vehicle dynamics; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Computational Intelligence for Security and Defense Applications (CISDA), 2013 IEEE Symposium on
Conference_Location
Singapore
Type
conf
DOI
10.1109/CISDA.2013.6595428
Filename
6595428
Link To Document