{"title":"基于势场的免疫网络移动机器人动态运动规划","authors":"Guan-Chuh Luh, Wei‐Wen Liu","doi":"10.1109/IFOST.2006.312275","DOIUrl":null,"url":null,"abstract":"This paper proposes a potential filed immune network for dynamic navigation of mobile robots in an unknown environment with moving obstacles and targets. The velocity obstacle method is utilized to determine imminent obstacle collision of a robot moving in the time-varying environment. The response of the overall immune network is derived by the aid of fuzzy system. Simulation results are presented to verify the effectiveness of the proposed methodology in unknown environments with single and multiple moving obstacles.","PeriodicalId":103784,"journal":{"name":"2006 International Forum on Strategic Technology","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":"{\"title\":\"Potential Field Based Immune Network for Dynamic Motion Planning of Mobile Robots\",\"authors\":\"Guan-Chuh Luh, Wei‐Wen Liu\",\"doi\":\"10.1109/IFOST.2006.312275\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper proposes a potential filed immune network for dynamic navigation of mobile robots in an unknown environment with moving obstacles and targets. The velocity obstacle method is utilized to determine imminent obstacle collision of a robot moving in the time-varying environment. The response of the overall immune network is derived by the aid of fuzzy system. Simulation results are presented to verify the effectiveness of the proposed methodology in unknown environments with single and multiple moving obstacles.\",\"PeriodicalId\":103784,\"journal\":{\"name\":\"2006 International Forum on Strategic Technology\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2006-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"5\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2006 International Forum on Strategic Technology\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IFOST.2006.312275\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2006 International Forum on Strategic Technology","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IFOST.2006.312275","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Potential Field Based Immune Network for Dynamic Motion Planning of Mobile Robots
This paper proposes a potential filed immune network for dynamic navigation of mobile robots in an unknown environment with moving obstacles and targets. The velocity obstacle method is utilized to determine imminent obstacle collision of a robot moving in the time-varying environment. The response of the overall immune network is derived by the aid of fuzzy system. Simulation results are presented to verify the effectiveness of the proposed methodology in unknown environments with single and multiple moving obstacles.
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