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Adaptive navigation of mobile
robots with obstacle avoidance
Fujimori,
A. Nikiforuk,
P.N. Gupta,
M.M.
Dept. of
Energy & Mech. Eng., Shizuoka Univ.,
Hamamatsu;
This paper
appears in: Robotics and Automation, IEEE Transactions
on
On page(s):
596-601
Volume: 13,
Aug
1997
ISSN:
1042-296X
CODEN:
IRAUEZ
INSPEC Accession
Number: 5662927
Abstract:
A local navigation technique with obstacle
avoidance, called adaptive navigation, is proposed for mobile
robots in which the dynamics of the robot are taken into
consideration. The only information needed about the local
environment is the distance between the robot and the
obstacles in three specified directions. The navigation law is
a first-order differential equation and navigation to the goal
and obstacle avoidance are achieved by switching the direction
angle of the robot. The effectiveness of the technique is
demonstrated by means of simulation examples
Index Terms:
adaptive
systems differential
equations mobile
robots path
planning real-time
systems robot
dynamics
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