標題: Reactive navigation in dynamic environment using a multisensor predictor
作者: Song, KT
Chang, CC
電控工程研究所
Institute of Electrical and Control Engineering
公開日期: 1-十二月-1999
摘要: A reactive navigation system for an autonomous mobile robot in unstructured dynamic environments is presented. The motion of moving obstacles is estimated for robot motion planning and obstacle avoidance. A multisensor-based obstacle predictor is utilized to obtain obstacle-motion information. Sensory data from a CCD camera and multiple ultrasonic rangefinders are combined to predict obstacle positions at next sampling instant. A neural network, which is trained off-line, provides the desired prediction on-line in real lime. The predicted obstacle configuration is employed by the proposed virtual-force-based navigation method to prevent collision with moving obstacles. Simulation results are presented to verify the effectiveness of the proposed navigation system in an environment with multiple mobile robots or moving objects. This system was implemented and tested on an experimental mobile robot at our laboratory. Navigation results in real environment are presented and analyzed.
URI: http://dx.doi.org/10.1109/3477.809039
http://hdl.handle.net/11536/30921
ISSN: 1083-4419
DOI: 10.1109/3477.809039
期刊: IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
Volume: 29
Issue: 6
起始頁: 870
結束頁: 880
顯示於類別:期刊論文


文件中的檔案:

  1. 000084159500018.pdf