Title :
Avoidance navigation for mobile robots by using dynamic trajectory
Author :
Nagahara, D. ; Takahashi, Satoshi
Author_Institution :
Kagawa Univ., Takamatsu
Abstract :
This paper introduces a control method for obstacle avoidance of a mobile robot. First, the mobile robot detects obstacles by information of both a CCD camera and ultrasonic sensors. Then, using information of both of camera and sensors, the mobile robot generates a dynamic trajectory to go to the goal point avoiding the obstacles. Through some experiments, a usefulness of proposed method is shown.
Keywords :
CCD image sensors; collision avoidance; mobile robots; robot vision; ultrasonic transducers; CCD camera; avoidance navigation; dynamic trajectory; mobile robots; obstacle avoidance; ultrasonic sensors; Control systems; Humans; Kernel; Mobile robots; Navigation; Orbital robotics; Robot control; Robot kinematics; Robot sensing systems; Trajectory; Keywords; Optical flow; tracking control; trajectory generation; ultrasonic sensors;
Conference_Titel :
SICE, 2007 Annual Conference
Conference_Location :
Takamatsu
Print_ISBN :
978-4-907764-27-2
Electronic_ISBN :
978-4-907764-27-2
DOI :
10.1109/SICE.2007.4421413
