Hostname: page-component-7c8c6479df-27gpq Total loading time: 0 Render date: 2024-03-28T23:14:38.881Z Has data issue: false hasContentIssue false

Obstacle avoidance motion planning for mobile robots in a dynamic environment with moving obstacles

Published online by Cambridge University Press:  01 September 1997

Chia-Pin Wu
Affiliation:
Department of Electrical Engineering, National Taiwan Institute of Technology, 43 Keelung Road, Section 4, Taipei, Taiwan 106
Tsu-Tian Lee
Affiliation:
Department of Electrical Engineering, Oriental Institute of Technology, 58 Sze-chuan Road, Section 2, Pan-Chiao, Taipei, Taiwan 220
Chau-Ren Tsai
Affiliation:
Department of Electrical Engineering, Oriental Institute of Technology, 58 Sze-chuan Road, Section 2, Pan-Chiao, Taipei, Taiwan 220

Abstract

A new real-time obstacle avoidance method for mobile robots has been developed. This method, namely the vector-distance function method, permits the detection of obstacles (both moving and stationary) and generates a path that can avoid collisions. The proposed approach expresses the distance information in a vector form. Then the notion of weighting is introduced to describe relationship between sensors of mobile robots and the target to be reached. Furthermore, R-mode, L-mode and T-mode are introduced to generate a safe path for the mobile robot in a dynamic environment filled with both stationary and moving obstacles. The algorithm can deal with a complicated obstacle environment, such as multiple concave and convex obstacles. Simulation results are included to demonstrate the applicability and effectiveness of the developed algorithm.

Type
Research Article
Copyright
© 1997 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)