Naslov
An Integrated Approach to Real-Time Mobile Robot Control in Partially Known Indoor Environments

Autori
Seder, Marija ; Maček, Kristijan ; Petrović, Ivan

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

Izvornik
Proceedings of the 31st Annual Conference of the IEEE Industrial Electronics Society (IECON '05) / - Raleigh (NC), 2005, 1785-1790

Skup
Annual Conference of the IEEE Industrial Electronics Society (31 ; 2005)

Mjesto i datum
Raleigh (NC), Sjedinjene Američke Države, 06.11.2005. - 10.11.2005

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
service robots; motion control

Sažetak
In this paper we present a motion control method for mobile robots in partially known indoor environments based on integration of focussed D* search algorithm and dynamic window local obstacle avoidance algorithm. While focussed D* generates global path, dynamic window local obstacle avoider generates the admissible robot trajectories that ensure safe robot motion. A simple and efficient procedure to the selection of appropriate motion commands based upon alignment of acquired trajectories and global geometric path is proposed. The initial a priori knowledge is used about the environment in the form of the occupancy grid map that is incrementally updated in runtime. The algorithms are verified both by simulation and experiments with a Pioneer 2DX mobile robot equiped with laser range finder.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA