Speed-Dependent Obstacle Avoidance by Dynamic Active Regions
نویسندگان
چکیده
An obstacle avoidance approach is introduced that has dynamic active regions. The dynamic regions are adapted to the current speed of the robot and there are different active regions used, one for speed reduction and one of turning away from obstacles. The overall strategy of this approach is that the robot can drive with high speed which will be reduced in front of an obstacle in order to do a sharper turn.
منابع مشابه
Dynamic Obstacle Avoidance by Distributed Algorithm based on Reinforcement Learning (RESEARCH NOTE)
In this paper we focus on the application of reinforcement learning to obstacle avoidance in dynamic Environments in wireless sensor networks. A distributed algorithm based on reinforcement learning is developed for sensor networks to guide mobile robot through the dynamic obstacles. The sensor network models the danger of the area under coverage as obstacles, and has the property of adoption o...
متن کاملDynamic Obstacle Avoidance for Unmanned Underwater Vehicles Based on an Improved Velocity Obstacle Method
In view of a dynamic obstacle environment with motion uncertainty, we present a dynamic collision avoidance method based on the collision risk assessment and improved velocity obstacle method. First, through the fusion optimization of forward-looking sonar data, the redundancy of the data is reduced and the position, size and velocity information of the obstacles are obtained, which can provide...
متن کاملCooperative UAV Trajectory Planning with Multiple Dynamic Targets
The paper addresses the problem of multiple UAV trajectory planning with dynamic targets. The problem is studied under the MILP framework, where how to express the nonlinear time-dependent cost function between two targets in a linear form makes the key difficulties. To solve the problem, the cost function between two nodes is determined using propotional guidance law to achieve shortest chasin...
متن کاملHigh-Speed Navigation Using the Global Dynamic Window Approach
Many applications in mobile robotics require the safe execution of a collision-free motion to a goal position. Planning approaches are well suited for achieving a goal position in known static environments, while real-time obstacle avoidance methods allow reactive motion behavior in dynamic and unknown environments. This paper proposes the global dynamic window approach as a generatlization of ...
متن کاملA Method on Dynamic Path Planning for Robotic Manipulator Autonomous Obstacle Avoidance Based on an Improved RRT Algorithm
In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human-Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the process of improving robotic manipulator intelligence. Among the path-planning methods, the Rapidly Exploring Random Tree (RRT) algorithm based on rand...
متن کامل