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Pregled bibliografske jedinice broj: 520091

Avoiding deadlocks of mobile robots in narrow passages of environments populated with moving obstacles


Đakulović, Marija; Dimitrijević, Borko; Petrović, Ivan
Avoiding deadlocks of mobile robots in narrow passages of environments populated with moving obstacles // CD ROM Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Budapest, 2011. str. 936-941 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Avoiding deadlocks of mobile robots in narrow passages of environments populated with moving obstacles

Autori
Đakulović, Marija ; Dimitrijević, Borko ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
CD ROM Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics / - Budapest, 2011, 936-941

ISBN
978-1-4577-0837-4

Skup
IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Mjesto i datum
Budimpešta, Mađarska, 3-7.7.2011.

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Deadlock avoidance; path planning; obstacle avoidance

Sažetak
This paper presents a strategy for deadlock avoidance of mobile robots in narrow passages of environments populated with other moving objects. The proposed strategy detects deadlocks in narrow passages only by robot's perceptive sensors, i.e., no other communication means with moving objects is assumed. The strategy is based on the random multi-access algorithm for the network congestion avoidance. The strategy is implemented within our existing motion planning and control system for mobile robots and thoroughly tested by simulation and experimentally on the Pioneer 3DX mobile robot equipped with SICK LMS-200 laser range finder. The test results illustrate the appropriateness of the proposed strategy for resolving deadlocks in narrow passages.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Projekt / tema
036-0361621-3012 - Napredne strategije upravljanja i estimacije u složenim sustavima (Nedjeljko Perić, )
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Ivan Petrović, )

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb