Open document
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General information |
| Author |
Zeng, Lingqi; Bone, Gary M. |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
Collision avoidance is a fundamental
requirement for mobile robots. Avoiding moving
obstacles (also termed dynamic obstacles) with
unpredictable direction changes, such as humans, is more
challenging than avoiding moving obstacles whose
motion can be predicted. Precise information on the
future moving directions of humans is unobtainable for
use in navigation algorithms. Furthermore, humans
should be able to pursue their activities unhindered and
without worrying about the robots around them. In this
paper, both active and critical regions are used to deal
with the uncertainty of human motion. A procedure is
introduced to calculate the region sizes based on worstcase
avoidance conditions. Next, a novel virtual force
field‐based mobile robot navigation algorithm (termed
QVFF) is presented. This algorithm may be used with
both holonomic and nonholonomic robots. It incorporates
improved virtual force functions for avoiding moving
obstacles and its stability is proven using a piecewise
continuous Lyapunov function. Simulation and
experimental results are provided for a human walking
towards the robot and blocking the path to a goal
location. Next, the proposed algorithm is compared with
five state‐of‐the‐art navigation algorithms for an
environment with one human walking with an
unpredictable change in direction. Finally, avoidance
results are presented for an environment containing three
walking humans. The QVFF algorithm consistently
generated collision‐free paths to the goal. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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