PATH TRACKING THROUGH UNCHARTED MOVING OBSTACLES

被引：14

作者：

DELAMADRID, JF ^{[1
]}

GINI, ML ^{[1
]}

机构：

[1] UNIV MINNESOTA,DEPT COMP SCI,MINNEAPOLIS,MN 55455

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS | 1990年 / 20卷 / 06期

关键词：

Computer Simulation;

D O I：

10.1109/21.61210

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

The problem of planning motions for a mobile robot in the presence of objects moving on unknown trajectories and with unknown velocities is addressed. The robot must follow a predefined path with a given tolerance and reach its destination by a given time without colliding with any obstacle. Objects are represented by nonintersecting discs in the plane, and the robot by a point. The proposed method relies on the use of sensors to detect obstacles, and interleaves path planning with execution. Experimental results obtained both in simulation and with a real robot are shown. © 1990 IEEE

引用

页码：1408 / 1422

页数：15

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