移动机器人在非结构化环境中的多障碍物避障

IEEE Conference on Robotics, Automation and Mechatronics, 2004. Pub Date : 2004-12-01 DOI:10.1109/RAMECH.2004.1438906

Feng Zhang, D. Tan, Zhenwei Wu

{"title":"移动机器人在非结构化环境中的多障碍物避障","authors":"Feng Zhang, D. Tan, Zhenwei Wu","doi":"10.1109/RAMECH.2004.1438906","DOIUrl":null,"url":null,"abstract":"This paper focuses on multiple obstacles avoidance for mobile robot and presents novel obstacle avoidance maneuvers mainly by defining degree of risk and using fuzzy method. The methods are based on the relative coordinates and acceleration space in unstructured environments, where there exist not only multiple static obstacles, but also multiple moving ones. The simulation results verify its validity.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"107 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":"{\"title\":\"Multiple obstacles avoidance for mobile robot in unstructured environments\",\"authors\":\"Feng Zhang, D. Tan, Zhenwei Wu\",\"doi\":\"10.1109/RAMECH.2004.1438906\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper focuses on multiple obstacles avoidance for mobile robot and presents novel obstacle avoidance maneuvers mainly by defining degree of risk and using fuzzy method. The methods are based on the relative coordinates and acceleration space in unstructured environments, where there exist not only multiple static obstacles, but also multiple moving ones. The simulation results verify its validity.\",\"PeriodicalId\":252964,\"journal\":{\"name\":\"IEEE Conference on Robotics, Automation and Mechatronics, 2004.\",\"volume\":\"107 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2004-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"8\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Conference on Robotics, Automation and Mechatronics, 2004.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RAMECH.2004.1438906\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RAMECH.2004.1438906","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 8

摘要

针对移动机器人的多障碍物避障问题，提出了一种新的避障机动方法，主要通过定义风险度和模糊方法来实现。该方法基于非结构化环境中的相对坐标和加速度空间，在非结构化环境中不仅存在多个静态障碍物，而且存在多个运动障碍物。仿真结果验证了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Multiple obstacles avoidance for mobile robot in unstructured environments

This paper focuses on multiple obstacles avoidance for mobile robot and presents novel obstacle avoidance maneuvers mainly by defining degree of risk and using fuzzy method. The methods are based on the relative coordinates and acceleration space in unstructured environments, where there exist not only multiple static obstacles, but also multiple moving ones. The simulation results verify its validity.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

IEEE Conference on Robotics, Automation and Mechatronics, 2004.

自引率

0.00%

发文量