Closest Gap based (CG) reactive obstacle avoidance Navigation for highly cluttered environments
Closest Gap based (CG) reactive obstacle avoidance Navigation for highly cluttered environments
复制标题
基于最近间隙 (CG) 的反应式避障导航，适合高度杂乱的环境
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
H. Jaddu
中科院分区：
文献类型：
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作者：
Muhannad Mujahed;D. Fischer;B. Mertsching;H. Jaddu
针对移动的机器人在复杂环境中的运动，提出并实现了一种新的反应式避碰方法。这种方法的新奇在于创建了一种新的方法来分析机器人前面的开口，与邻近图导航（ND）技术相比，该方法大大减少了开口的数量，特别是在复杂的情况下。此外，考虑了所选择的（所选择的）间隙相对于机器人视觉的角宽度。因此，振荡得到缓解，计算复杂性降低，并将实现更平滑的行为。我们的技术调整了平滑邻近图导航（SND）方法中提出的运动规律，通过考虑其两侧的威胁比率并在接近机器人时对障碍物施加更严格的偏差，为机器人生成更安全的路径。因此，在一侧具有高威胁而另一侧具有低威胁的狭窄走廊中发生的死锁问题被解决，而不影响平滑行为。仿真和实验结果证明了所提出的方法的力量。
A new reactive collision avoidance approach for mobile robots moving in cluttered and complex environments was developed and implemented. The novelty of this approach lies in the creation of a new method for analyzing openings in front of the robot that highly reduces their number when compared with the Nearness-Diagram Navigation (ND) technique, particularly in complex scenarios. Moreover, the angular width of the chosen (selected) gap with respect to the robot vision is taken into consideration. Consequently, oscillations are alleviated, the computational complexity is reduced and a smoother behavior will be achieved. Our technique adjusts the motion law proposed in the Smooth Nearness-Diagram Navigation (SND) method to generate safer paths for the robot by considering the ratio of threats on its sides and applying stricter deviation against an obstacle as it gets closer to the robot. Hence, the problem of deadlock occurring in narrow corridors, with high threats on one side and low threats on the other, is solved without affecting the smoothness behavior. Simulation and experimental results demonstrate the power of the proposed approach.