避障
移动机器人
障碍物
计算机科学
机器人
弹道
方案(数学)
非完整系统
避碰
点(几何)
车辆动力学
运动规划
控制工程
模拟
工程类
人工智能
碰撞
数学
天文
计算机安全
物理
数学分析
汽车工程
法学
政治学
几何学
作者
M S M Hashim,Tien‐Fu Lu,Hassrizal Hassan Basri
标识
DOI:10.1109/iscaie.2012.6482083
摘要
In this paper, a new dynamic obstacle avoidance approach for nonholonomic mobile robots in dynamic environments is presented. In dynamic environments, the mobile robot is expected to encounter and safely avoid the obstacles along its way. This inevitably will delay the mobile robot in keeping to its original planned timeframe. To address this scenario, the proposed approach will ensure the mobile robot is able to gain the time lost during obstacle avoidance and reach the final point at the specified time. This approach is based on the dynamic trajectory planning scheme which utilized the replanning approach in order to avoid the obstacle. The performance of the proposed approach is tested through simulations in a simplified city-like dynamic environment.
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