An improvement approach based on linear navigation law for mobile robot

Author

Zhang, Zihui ; Xiong, Yueshan

Author_Institution

Sch. of Comput., Nat. Univ. of Defense & Technol., Changsha, China

Volume

3

fYear

2012

fDate

25-27 May 2012

Firstpage

495

Lastpage

498

Abstract

An improvement approach based on the linear navigation law for mobile robot navigation is suggested. An obstacle is equivalent to a velocity vector when detected by a robot´s sensory system according to the relative distant and relative direction between the robot and the obstacle. And then the vector sum of all obstacles´ equivalent velocity vectors and the linear navigation velocity vector derived from the linear navigation law drives the robot to reach the desired goal position without colliding with an y obstacle in the robot´s workspace. To validate the effectiveness and superiority, a simulation result is provided.

Keywords

collision avoidance; linear systems; mobile robots; linear navigation law; linear navigation velocity vector; mobile robot navigation; robot sensory system; robot-obstacle collision; Collision avoidance; Mobile robots; Navigation; Robot kinematics; Robot sensing systems; Vectors; Linear navigation law; equivalent velocity vector; mobile robot navigation;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Science and Automation Engineering (CSAE), 2012 IEEE International Conference on

Conference_Location

Zhangjiajie

Print_ISBN

978-1-4673-0088-9

Type

conf

DOI

10.1109/CSAE.2012.6273000

Filename

6273000