An adaptive manoeuvring strategy for mobile robots in cluttered dynamic environments

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dc.contributor.author Valls Miró, J
dc.contributor.author Taha, T
dc.contributor.author Wang, D
dc.contributor.author Dissanayake, G
dc.date.accessioned 2010-05-28T09:47:40Z
dc.date.issued 2008
dc.identifier.citation International Journal of Automation and Control, 2008, 2 (2-3), pp. 178 - 194
dc.identifier.issn 1740-7516
dc.identifier.other C1 en_US
dc.identifier.uri http://hdl.handle.net/10453/9131
dc.description.abstract A novel method which combines an optimised global path planner with a real-time sensor-based collision avoidance mechanism to accommodate for dynamic changes in the environment (e.g., people) is presented. The basic concept is to generate a continually changing parameterised family of virtual force fields for the robot based on characteristics such as location, travelling speed and dimension of the objects in the vicinity, static and dynamic. The interactions among the repulsive forces associated with the various obstacles provide a natural way for local collision avoidance in a partially known cluttered environment. This is harnessed by locally modifying the planned behaviour of the moving platform in real-time, whilst preserving the optimised nature of the global path. Furthermore, path traversability is continually monitored by the global planner to trigger a complete path re-planning from the current location in case of major changes, most notably when the path is completely blocked by obstacles. Copyright © 2008, Inderscience Publishers.
dc.language eng
dc.relation.isbasedon 10.1504/IJAAC.2008.022176
dc.title An adaptive manoeuvring strategy for mobile robots in cluttered dynamic environments
dc.type Journal Article
dc.parent International Journal of Automation and Control
dc.journal.volume 2-3
dc.journal.volume 2
dc.journal.number 2/3 en_US
dc.publocation Geneva, Switzerland en_US
dc.identifier.startpage 178 en_US
dc.identifier.endpage 194 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.for 0910 Manufacturing Engineering
dc.personcode 011224
dc.personcode 040408
dc.personcode 105612
dc.percentage 100 en_US
dc.classification.name Manufacturing Engineering en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom en_US
dc.date.activity en_US
dc.location.activity en_US
dc.description.keywords Autonomous robot navigation
dc.description.keywords Dynamic environments
dc.description.keywords Global path planning
dc.description.keywords Reactive local obstacle avoidance controller
pubs.embargo.period Not known
pubs.organisational-group /University of Technology Sydney
pubs.organisational-group /University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group /University of Technology Sydney/Faculty of Engineering and Information Technology/School of Elec, Mech and Mechatronic Systems
utslib.copyright.status Closed Access
utslib.copyright.date 2015-04-15 12:17:09.805752+10
pubs.consider-herdc true
utslib.collection.history Closed (ID: 3)


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