ADAPTIVE NAVIGATION OF MOBILE ROBOTS WITH OBSTACLE AVOIDANCE

Authors
FUJIMORI A NIKIFORUK PN GUPTA MM
Citation
A. Fujimori et al., ADAPTIVE NAVIGATION OF MOBILE ROBOTS WITH OBSTACLE AVOIDANCE, IEEE transactions on robotics and automation, 13(4), 1997, pp. 596-602
Citations number
9
Categorie Soggetti
Computer Application, Chemistry & Engineering","Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
Journal title
IEEE transactions on robotics and automation → ACNP
ISSN journal
1042296X
Volume
13
Issue
4
Year of publication
1997
Pages
596 - 602
Database
ISI
SICI code
1042-296X(1997)13:4<596:ANOMRW>2.0.ZU;2-Y
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 obsta cles in three specified directions, The navigation law is a first-orde r differential equation and navigation to the goal and obstacle avoida nce are achieved by switching the direction angle of the robot, The ef fectiveness of the technique is demonstrated by means of simulation ex amples.