Moving obstacle avoidance for mobile robot moving on designated path

In reality, it is necessary to define the accessible area of the robot in an environment which may consist of door entrance, descending stairways and others. In this paper, a method to closely follow the global designated path by setting manually. In this method, the robot moves in a range of veloci...

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Bibliographic Details
Main Authors: Yamada, Taichi, Yeow Li Sa, Ohya, Akihisa
Format: Conference Proceeding
Language:English
Subjects:
Collision avoidance
Laser Scanner
Lasers
Mobile Robot
Mobile robots
Moving Obstacle Avoidance
Path Planning
Planning
Robot kinematics
Robot sensing systems
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Summary:In reality, it is necessary to define the accessible area of the robot in an environment which may consist of door entrance, descending stairways and others. In this paper, a method to closely follow the global designated path by setting manually. In this method, the robot moves in a range of velocities and thus being able to avoid obstacle staying closely to the designated path. The results of the experiments verify that this method is able to let the robot move closely to the designated path while avoiding moving obstacle.
DOI:10.1109/URAI.2013.6677324