NDLI: Avoiding Static and Dynamic Objects in Navigation

Content Provider	IEEE Xplore Digital Library
Author	Han Li Yili Fu He Xu Yulin Ma
Copyright Year	2006
Description	Author affiliation: Inst. of Robotics, Harbin Inst. of Technol. (Han Li; Yili Fu; He Xu; Yulin Ma)
Abstract	Real-time collision free path planning involves avoidance of static as well as dynamic objects in unknown environment. Strategies suitable for stationary navigation cannot be suitable for the dynamic environment. Behavior-based control combined with fuzzy control to avoid dynamic and static obstacle is described in this paper. Behavior-based control helps the robot get over complex static environment or avoid dynamic objects according to different collision situation. Double-layered fuzzy logic control helps figure out velocity and steering angle of the robot based on some uncertain information. The method has been tested effectively through simulation by a mobile robot navigating amidst multiple static and dynamic environments
Starting Page	639
Ending Page	644
File Size	5476681
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282547
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Fuzzy logic Robot sensing systems Path planning Orbital robotics Robotics and automation Control systems Fuzzy control Velocity control Mobile robots Fuzzy logic control Obstacle avoiding Dynamic objects
Content Type	Text
Resource Type	Article

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