An Adaptive Manoeuvring Strategy for Mobile Robots in Cluttered Dynamic Environments

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dc.contributor.author Valls Miro, Jaime en_US
dc.contributor.author Taha, Tarek en_US
dc.contributor.author Wang, Dalong en_US
dc.contributor.author Dissanayake, Gamini en_US
dc.contributor.editor en_US
dc.date.accessioned 2010-05-28T09:47:40Z
dc.date.available 2010-05-28T09:47:40Z
dc.date.issued 2008 en_US
dc.identifier 2007004188 en_US
dc.identifier.citation Valls Miro Jaime et al. 2008, 'An Adaptive Manoeuvring Strategy for Mobile Robots in Cluttered Dynamic Environments', Indescience Publishers, vol. 2, no. 2/3, pp. 178-194. en_US
dc.identifier.issn 1740-7516 en_US
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. en_US
dc.language en_US
dc.publisher Indescience Publishers en_US
dc.title An Adaptive Manoeuvring Strategy for Mobile Robots in Cluttered Dynamic Environments en_US
dc.parent International Journal of Automation and Control (IJAAC) en_US
dc.journal.volume 2 en_US
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 091000 en_US
dc.personcode 040408 en_US
dc.personcode 10072559 en_US
dc.personcode 105612 en_US
dc.personcode 011224 en_US
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 robots; robot navigation; global path planning; dynamic environments; reactive obstacle avoidance; local obstacle avoidance; obstacle avoidance controllers; robot control; adaptive manoeuvring; mobile robots; collision avoidance; cluttered environments. en_US
dc.staffid en_US
dc.staffid 011224 en_US


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