Title :
A fast algorithm for moving obstacle avoidance for vision-based mobile robots
Author :
Ren, Jing ; McIsaac, Kenneth A. ; Patel, Rajni V.
Author_Institution :
Dept. of Elec. & Comp. Eng., Western Ontario Univ., London, Ont.
Abstract :
In this paper, we present a geometric transformation-based motion planning algorithm for moving obstacle avoidance for mobile robots using artificial potential field. We show that this algorithm can be easily incorporated into various motion planning algorithms to achieve moving obstacles avoidance for kinematic/dynamic models of omnidirectional or nonholonomic robots. We have verified the proposed algorithm on a vision-based Hilare-type robot. Experiment results show that the proposed algorithm can effectively avoid unmodeled obstacles. Finally we prove that all derived control laws are stable using Lyapunov theory
Keywords :
Lyapunov methods; collision avoidance; computational geometry; mobile robots; robot vision; Hilare-type robot; Lyapunov theory; artificial potential field; dynamic model; geometric transformation; kinematic model; motion planning; moving obstacle avoidance; nonholonomic robot; vision-based mobile robot; Computational geometry; Councils; Kinematics; Mobile robots; Motion planning; Optimization methods; Protection; Robot programming; Robot vision systems; Target tracking;
Conference_Titel :
Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on
Conference_Location :
Toronto, Ont.
Print_ISBN :
0-7803-9354-6
DOI :
10.1109/CCA.2005.1507126
