OBSTACLE AVOIDANCE OF A MOBILE ROBOT IN DYNAMIC ENVIRONMENT WITH A NEW NAVIGATION STRATEGY
Publish place: 16th Iranian Conference on Electric Engineering
Publish Year: 1387
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ICEE16_409
تاریخ نمایه سازی: 6 اسفند 1386
Abstract:
The motion planning and control problem is a well-known problem in the field of robotics. The objective is to find collision-free trajectories for a robot, in static or dynamic environments containing some obstacles, between a start and a goal configuration. In this context the term control has a broad meaning that includes many different controls, such as low-level motor control, and behaviour control, where behaviour represents many complicated tasks, like obstacle avoidance and goal seeking. This paper describes a method for obstacle avoidance and navigation of mobile Robot in dynamic environment that this mobile robot is called KheperaII. Environment of simulation consists of dynamic and static obstacles and targets. A simulation is done with the help of MATLAB and the KIKS package, representing the results. Results of simulation is compared with potential field and seen that our method is better.
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Authors
Ghasem Alizadeh
Control Engineering Department, Faculty of Electrical & Computer Engineering University of Tabriz, Tabriz, Iran
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