A reactive collision avoidance approach for mobile robot in dynamic environments

Citation

Tang, Sai Hong and Ang, Chun Kit and Nakhaeinia, Danial and Karasfi, Babak and Motlagh, Omid Reza Esmaeili (2013) A reactive collision avoidance approach for mobile robot in dynamic environments. Journal of Automation and Control Engineering, 1 (1). pp. 16-20. ISSN 2301-3702

Abstract

This paper describes a novel reactive obstacle avoidance approach for mobile robot navigation in unknown and dynamic environment. This approach is developed based on the “situated-activity paradigm” and a “divide and conquer” strategy which steers the robot to move among unknown obstacles and towards a target without collision. The proposed approach entitled the Virtual Semi-Circles(VSC). The VSC approach lies in integration of 4 modules: division, evaluation, decision and motion generation. The VSC proposes a comprehensive obstacle avoidance approach for robust and reliable mobile robot navigation in cluttered, dense and complex unknown environments. The simulation result shows the feasibility and effectiveness of the proposed approach.

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Additional Metadata

Item Type:	Article
Divisions:	Faculty of Engineering
Publisher:	Engineering and Technology Publishing
Keywords:	Dynamic environment; Mobile robots; Obstacle avoidance; Reactive navigation
Depositing User:	Nabilah Mustapa
Date Deposited:	13 Mar 2015 01:58
Last Modified:	09 Oct 2018 01:13
URI:	http://psasir.upm.edu.my/id/eprint/28861
Statistic Details:	View Download Statistic

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