Abstract
This paper proposes a realistic on-line navigation method of the mobile robot in dynamical environment where multiple obstacles are always changing their velocities. Considering characteristics of actual sensor system, a method to estimate the velocity of moving obstacles is presented. The estimated velocity and measured distance from the nearest obstacle are used to plan a velocity of mobile robot based on a new idea of Collision Possibility Cone(CPC). Then an on-line navigation method is proposed by using CPC and feasible velocity space of mobile robot. Simulational examples show an effectiveness of the new navigation.
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© 2002 Springer-Verlag Berlin Heidelberg
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Ushimi, N. et al. (2002). On-line Navigation of Mobile Robot Among Moving Obstacles Using Ultrasonic Sensors. In: Birk, A., Coradeschi, S., Tadokoro, S. (eds) RoboCup 2001: Robot Soccer World Cup V. RoboCup 2001. Lecture Notes in Computer Science(), vol 2377. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45603-1_63
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DOI: https://doi.org/10.1007/3-540-45603-1_63
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