Laserradar and sonar based world modeling and motion control for fast obstacle avoidance of the autonomous mobile robot MOBOT-IV
Laserradar and sonar based world modeling and motion control for fast obstacle avoidance of the autonomous mobile robot MOBOT-IV
复制标题
基于激光雷达和声纳的世界建模和运动控制，用于自主移动机器人 MOBOT-IV 的快速避障
DOI：
10.1109/robot.1993.292034
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发表时间：
1993
期刊：
影响因子：
--
通讯作者：
E. Puttkamer
中科院分区：
文献类型：
--
作者：
M. Buchberger;Klaus;E. Puttkamer
描述了在室内应用自主移动机器人研究项目范围内作为测试平台的Mobot-IV的避障机制。该机制利用从激光雷达和声纳传感器系统获得的异质信息，以实现可靠和完整的实时避碰世界模型。该世界模型由运动控制组件转换为虚拟位置偏差，以通过使用轨迹控制算法来执行避障。
The obstacle avoidance mechanism of MOBOT-IV, which serves as a test platform within the scope of a research project on autonomous mobile robots for indoor applications is described. The mechanism utilizes heterogeneous information obtained from a laser radar and a sonar sensor system in order to achieve a reliable and complete world model for real-time collision avoidance. This world model is transformed by a motion control component into a virtual position deviation to perform obstacle avoidance by using a track-control algorithm.<<ETX>>