標題: Sensor-based motion planning of a mobile robot in a dynamic environment
作者: Chang, CC
Song, KT
交大名義發表
電控工程研究所
National Chiao Tung University
Institute of Electrical and Control Engineering
公開日期: 1996
摘要: Most research in robotics did not consider the motion of obstacles and therefore the applications were limited. In this paper, we present a design and implementation of a navigation system for a mobile robot in a dynamic environment. The proposed system has the following functions: sensor data fusion, obstacle avoidance (static and moving obstacles), environment information updating, and real-time path planning and replanning. These functions should be executed almost simultaneously. To achieve this goal, a blackboard architecture has been adopted to coordinate the computation, Experimental navigation results are presented and discussed.
URI: http://hdl.handle.net/11536/19830
ISBN: 0-7803-2775-6
ISSN: 1553-572X
期刊: PROCEEDINGS OF THE 1996 IEEE IECON - 22ND INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS, CONTROL, AND INSTRUMENTATION, VOLS 1-3
起始頁: 766
結束頁: 771
Appears in Collections:Conferences Paper