机器人导航通过一般形状的障碍物使用中心线导向算法

Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics Pub Date : 1989-11-14 DOI:10.1109/ICSMC.1989.71356

Chun-Hung Lin, L. Fu

{"title":"机器人导航通过一般形状的障碍物使用中心线导向算法","authors":"Chun-Hung Lin, L. Fu","doi":"10.1109/ICSMC.1989.71356","DOIUrl":null,"url":null,"abstract":"The problem of navigating a mobile robot around barriers in an unexplored terrain is studied, where all the obstacles within the terrain are not necessarily of polygonal shape or convex. A model map is used to memorize the configuration of the environment observed so far and it is updated while the robot is being navigated. With safety' as a important factor to the solution of the problem, an algorithm which tends to find a center-line path among obstacles is proposed. The case where the sensor has only limited effective range is also considered. Detailed proof is provided of the collision-free and goal-convergent properties of the algorithm.<<ETX>>","PeriodicalId":72691,"journal":{"name":"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics","volume":"1 1","pages":"545-550 vol.2"},"PeriodicalIF":0.0000,"publicationDate":"1989-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Robot navigation through obstacles of general shapes using a center-line oriented algorithm\",\"authors\":\"Chun-Hung Lin, L. Fu\",\"doi\":\"10.1109/ICSMC.1989.71356\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The problem of navigating a mobile robot around barriers in an unexplored terrain is studied, where all the obstacles within the terrain are not necessarily of polygonal shape or convex. A model map is used to memorize the configuration of the environment observed so far and it is updated while the robot is being navigated. With safety' as a important factor to the solution of the problem, an algorithm which tends to find a center-line path among obstacles is proposed. The case where the sensor has only limited effective range is also considered. Detailed proof is provided of the collision-free and goal-convergent properties of the algorithm.<<ETX>>\",\"PeriodicalId\":72691,\"journal\":{\"name\":\"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics\",\"volume\":\"1 1\",\"pages\":\"545-550 vol.2\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1989-11-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICSMC.1989.71356\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSMC.1989.71356","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 2

摘要

研究了移动机器人在未开发地形中绕过障碍物的问题，其中地形中的所有障碍物不一定都是多边形或凸形的。模型地图用于记忆到目前为止观察到的环境配置，并在机器人导航时更新。将安全作为问题求解的重要因素，提出了一种倾向于在障碍物之间寻找中心线路径的算法。还考虑了传感器有效距离有限的情况。详细证明了该算法的无碰撞性和目标收敛性。

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

Robot navigation through obstacles of general shapes using a center-line oriented algorithm

The problem of navigating a mobile robot around barriers in an unexplored terrain is studied, where all the obstacles within the terrain are not necessarily of polygonal shape or convex. A model map is used to memorize the configuration of the environment observed so far and it is updated while the robot is being navigated. With safety' as a important factor to the solution of the problem, an algorithm which tends to find a center-line path among obstacles is proposed. The case where the sensor has only limited effective range is also considered. Detailed proof is provided of the collision-free and goal-convergent properties of the algorithm.<>

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

Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics

自引率

0.00%

发文量