Dynamic Obstacle Avoidance for an Omnidirectional Mobile Robot

Dynamic Obstacle Avoidance for an Omnidirectional Mobile Robot

We have established a novel method of obstacle-avoidance motion planning for mobile robots in dynamic environments, wherein the obstacles are moving with general velocities and accelerations, and their motion profiles are not preknown. A hybrid system is presented in which a global deliberate approa...

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Bibliographic Details
Main Authors: Robert L. Williams, Jianhua Wu
Format: Article
Language:English
Published: Hindawi Limited 2010-01-01
Series:Journal of Robotics
Online Access:http://dx.doi.org/10.1155/2010/901365
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spelling doaj-488016a50d1340059755e8b56a4f8eef2020-11-24T23:15:26ZengHindawi LimitedJournal of Robotics1687-96001687-96192010-01-01201010.1155/2010/901365901365Dynamic Obstacle Avoidance for an Omnidirectional Mobile RobotRobert L. Williams0Jianhua Wu1Ohio University, Athens, OH 45701, USAOhio University, Athens, OH 45701, USAWe have established a novel method of obstacle-avoidance motion planning for mobile robots in dynamic environments, wherein the obstacles are moving with general velocities and accelerations, and their motion profiles are not preknown. A hybrid system is presented in which a global deliberate approach is applied to determine the motion in the desired path line (DPL), and a local reactive approach is used for moving obstacle avoidance. A machine vision system is required to sense obstacle motion. Through theoretical analysis, simulation, and experimental validation applied to the Ohio University RoboCup robot, we show the method is effective to avoid collisions with moving obstacles in a dynamic environment.http://dx.doi.org/10.1155/2010/901365
collection DOAJ
language English
format Article
sources DOAJ
author Robert L. Williams
Jianhua Wu
spellingShingle Robert L. Williams
Jianhua Wu
Dynamic Obstacle Avoidance for an Omnidirectional Mobile Robot
Journal of Robotics
author_facet Robert L. Williams
Jianhua Wu
author_sort Robert L. Williams
title Dynamic Obstacle Avoidance for an Omnidirectional Mobile Robot
title_short Dynamic Obstacle Avoidance for an Omnidirectional Mobile Robot
title_full Dynamic Obstacle Avoidance for an Omnidirectional Mobile Robot
title_fullStr Dynamic Obstacle Avoidance for an Omnidirectional Mobile Robot
title_full_unstemmed Dynamic Obstacle Avoidance for an Omnidirectional Mobile Robot
title_sort dynamic obstacle avoidance for an omnidirectional mobile robot
publisher Hindawi Limited
series Journal of Robotics
issn 1687-9600
1687-9619
publishDate 2010-01-01
description We have established a novel method of obstacle-avoidance motion planning for mobile robots in dynamic environments, wherein the obstacles are moving with general velocities and accelerations, and their motion profiles are not preknown. A hybrid system is presented in which a global deliberate approach is applied to determine the motion in the desired path line (DPL), and a local reactive approach is used for moving obstacle avoidance. A machine vision system is required to sense obstacle motion. Through theoretical analysis, simulation, and experimental validation applied to the Ohio University RoboCup robot, we show the method is effective to avoid collisions with moving obstacles in a dynamic environment.
url http://dx.doi.org/10.1155/2010/901365
work_keys_str_mv AT robertlwilliams dynamicobstacleavoidanceforanomnidirectionalmobilerobot
AT jianhuawu dynamicobstacleavoidanceforanomnidirectionalmobilerobot
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