NDLI: A Robot Collision Avoidance Scheme Based on the Moving Obstacle Motion Prediction

Content Provider	IEEE Xplore Digital Library
Author	Rongxin Jiang Xiang Tian Li Xie Yaowu Chen
Copyright Year	2008
Description	Author affiliation: Inst. of Adv. Digital Technol.& Instrum., Zhejiang Univ., Hangzhou (Rongxin Jiang; Xiang Tian; Li Xie; Yaowu Chen)
Abstract	This paper proposes an integrated scheme for the robot to avoid collision based on obstaclepsilas motion prediction. The robot obtains the target bearing by using object detection technique and fuses the bearing information with the external sensors data to locate the current position of the moving target. The motion state of the moving obstacle is described using the constant velocity (CV) model, the constant accelerate (CA) model and the current statistical (CS) model. Then, a Kalman-based interacting multiple model (IMM) filter is adopted to estimate the obstacle motion trend. This scheme mainly focuses on the obstacle detection and the motion prediction. Based on the motion prediction of the obstacle, an abbreviated strategy is proposed for collision avoidance. To validate the proposed scheme, we have implemented an obstacle avoidance experiment with a Pioneer 3-AT robot and a moving obstacle. The results verify that the proposed scheme is valid and viable.
Starting Page	341
Ending Page	345
File Size	447969
Page Count	5
File Format	PDF
ISBN	9780769532905
DOI	10.1109/CCCM.2008.347
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-08-03
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	motion prediction Robot kinematics Robot sensing systems robot collision avoidance Interacting Multiple Model Sensors the Current Statistical Model Acceleration Mathematical model Collision avoidance Robots
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in