Adaptive navigation of mobile robots with obstacle avoidance

被引：38

作者：

Fujimori, A ^{[1
]}

Nikiforuk, PN ^{[1
]}

Gupta, MM ^{[1
]}

机构：

[1] UNIV SASKATCHEWAN,COLL ENGN,INTELLIGENT SYST RES LAB,SASKATOON,SK S7N 5A9,CANADA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1997年 / 13卷 / 04期

关键词：

adaptive navigation; mobile robot; navigation; obstacle avoidance;

D O I：

10.1109/70.611330

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A local navigation technique with obstacle avoidance, called adaptive navigation, is proposed for mobile robots in which the dynamics of the robot are taken into consideration. The only information needed about the local environment is the distance between the robot and the obstacles in three specified directions, The navigation law is a first-order differential equation and navigation to the goal and obstacle avoidance are achieved by switching the direction angle of the robot, The effectiveness of the technique is demonstrated by means of simulation examples.

引用

页码：596 / 602

页数：7

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