Title :
Obstacle movement prediction considering obstacle´s dynamics and a priori knowledge of its goals
Author :
Bevilacqua, Ezequiel ; Kimura, Tetsuya
Author_Institution :
ETSEIB, Polytech. Univ. of Catalunya, Spain
Abstract :
In this paper development of an advanced prediction method is proposed as a tool to enhance mobile robot navigation in dynamic environments. This research experiments the efficiency of this concept in the Small-size RoboCup environment in which the obstacles are the opponent soccer robots and, thus, not only move but act in an intelligent way to prevent our Multi-Agent System from achieving its goals. Understanding of the opponent´s path-planning strategy and dynamical characteristics improves the accuracy of movement prediction. The focus is done in considering both the dynamics of the moving obstacles and a priori knowledge of their goals. Efficiency of this approach is tested for simple game configurations through simulations and experiments.
Keywords :
collision avoidance; mobile robots; motion control; RoboCup; intelligent prediction; intelligent robots; motion control; moving obstacles; multi-agent system; obstacle avoidance; Control systems; Electronic mail; Intelligent robots; Kinematics; Mobile robots; Navigation; Prediction methods; Robot sensing systems; Service robots; Testing;
Conference_Titel :
Industrial Technology, 2002. IEEE ICIT '02. 2002 IEEE International Conference on
Print_ISBN :
0-7803-7657-9
DOI :
10.1109/ICIT.2002.1189254