Detail publikačního výsledku

Obstacle avoidance for non-point mobile robots

HONZÍK, B.

Originální název

Obstacle avoidance for non-point mobile robots

Anglický název

Obstacle avoidance for non-point mobile robots

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

The obstacle avoidance algorithm described in this paper is based on the generalized potential fields, which depend on robot's velocity as well as its position. Unlike classical potential fields, the robot is not repulsed by an obstacle if it is not moving toward it. The key problem when using generalized potentials is the computation of the time it would take to bring the robot moving with constant velocity to collision with the nearest obstacle in the given direction. It is easy for mobile robots with circular footprint, when orientation does not play a role. This paper presents new technique for computation of time remaining to the collision based on linear programming, which can be used in the case when robot's shape can not be approximated by a circle and rotational degree of freedom must be taken into account.

Anglický abstrakt

The obstacle avoidance algorithm described in this paper is based on the generalized potential fields, which depend on robot's velocity as well as its position. Unlike classical potential fields, the robot is not repulsed by an obstacle if it is not moving toward it. The key problem when using generalized potentials is the computation of the time it would take to bring the robot moving with constant velocity to collision with the nearest obstacle in the given direction. It is easy for mobile robots with circular footprint, when orientation does not play a role. This paper presents new technique for computation of time remaining to the collision based on linear programming, which can be used in the case when robot's shape can not be approximated by a circle and rotational degree of freedom must be taken into account.

Klíčová slova v angličtině

obstacle avoidance, generalized potential, mobile robot

Autoři

HONZÍK, B.

Vydáno

01.01.2000

Nakladatel

ARGESIM

Místo

Vienna

ISBN

3-901608-15-X

Kniha

Proceedings of the IMACS Symposium on Mathematical Modelling

Strany od

887

Strany počet

4

BibTex

@inproceedings{BUT6908,
  author="Bohumil {Honzík}",
  title="Obstacle avoidance for non-point mobile robots",
  booktitle="Proceedings of the IMACS Symposium on Mathematical Modelling",
  year="2000",
  pages="4",
  publisher="ARGESIM",
  address="Vienna",
  isbn="3-901608-15-X"
}