Obstacle avoidance motion planning for mobile robots in a dynamic environment with moving obstacles

A new real-time obstacle avoidance method for mobile robots has been developed. This method, namely the vector-distance function method, permits the detection of obstacles (both moving and stationary) and generates a path that can avoid collisions. The proposed approach expresses the distance inform...

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Bibliographic Details
Published in:Robotica 1997-09, Vol.15 (5), p.493-510
Main Authors: Wu, Chia-Pin, Lee, Tsu-Tian, Tsai, Chau-Ren
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Dynamic environment
Exact sciences and technology
Mobile robots
Moving obstacles
Robotics
Vector-distance function
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Summary:A new real-time obstacle avoidance method for mobile robots has been developed. This method, namely the vector-distance function method, permits the detection of obstacles (both moving and stationary) and generates a path that can avoid collisions. The proposed approach expresses the distance information in a vector form. Then the notion of weighting is introduced to describe relationship between sensors of mobile robots and the target to be reached. Furthermore, R-mode, L-mode and T-mode are introduced to generate a safe path for the mobile robot in a dynamic environment filled with both stationary and moving obstacles. The algorithm can deal with a complicated obstacle environment, such as multiple concave and convex obstacles. Simulation results are included to demonstrate the applicability and effectiveness of the developed algorithm.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574797000593