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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Yun Seok Nam Bum Hee Lee Nak Yong Ko |
| Copyright Year | 1995 |
| Description | Author affiliation: Dept. of Control & Instrum. Eng., Seoul Nat. Univ., South Korea (Yun Seok Nam; Bum Hee Lee) |
| Abstract | This paper proposes a new motion planning method of a mobile robot avoiding moving obstacles. We use an artificial potential field method and the view-time concept. The view-time is defined as the period between one sampling time to the next. It is assumed that the position and the velocity of obstacles are monitored at each sampling time. From the position and velocity at sampling time, we calculate the probability density of the obstacle trajectory for a view-time, based on the assumption that the obstacle motion is being modeled as a random walk process. The probability that the position can be swept by an obstacle during a view-time is calculated from the probability density function of the obstacle trajectory. Then artificial potential is assigned at every position by considering the probability of obstacle trajectory. The force induced by the artificial potential field repels the robot away from the probable obstacle trajectory. This method is a look ahead scheme and is effective for moving obstacle avoidance. |
| Starting Page | 1463 |
| Ending Page | 1468 |
| File Size | 530111 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780327810 |
| DOI | 10.1109/SICE.1995.526730 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1995-07-26 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Motion planning Sampling methods Mobile robots Path planning Instruments Robot motion Probability density function Space stations Orbital robotics Hidden Markov models |
| Content Type | Text |
| Resource Type | Article |
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