Pregled bibliografske jedinice broj: 520091
Avoiding deadlocks of mobile robots in narrow passages of environments populated with moving obstacles
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
Budimpešta, 2011. str. 936-941 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 520091 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
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
/ - Budimpešta, 2011, 936-941
ISBN
978-1-4577-0837-4
Skup
IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Mjesto i datum
Budimpešta, Mađarska, 03.07.2011. - 07.07.2011
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
Projekti:
036-0361621-3012 - Napredne strategije upravljanja i estimacije u složenim sustavima (Perić, Nedjeljko, MZO ) ( CroRIS)
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Petrović, Ivan, MZO ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
