Obstacle-responsive navigation scheme of a wheeled mobile robot based on look-ahead control
Obstacle-responsive navigation scheme of a wheeled mobile robot based on look-ahead control
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DOI：
10.1108/01439911211217116
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发表时间：
2012-04
期刊：
影响因子：
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通讯作者：
Yu Yu Lwin-Yu;Y. Yamamoto
中科院分区：
文献类型：
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作者：
Yu Yu Lwin-Yu;Y. Yamamoto
目的-本文的目的是设计一种能够追求给定目标并具有避障能力的移动机器人控制器，其中瞄准目标和躲避障碍这两项任务融合在一个连贯的前瞻控制方法框架中。设计/方法/进近-通常基于从GPS获得的全局信息来执行对目标的导航。然而，避障本质上是局部的，暂时应该优先考虑避免与障碍物相撞，而不是走最短的路径到达目标。前者由目标瞄准模式处理，后者由避障模式处理。这两个具有不同性质的任务通过简单地改变同一控制器内的坐标系和相关元素来在所谓的“前瞻控制”下处理。因此，所产生的运动和轨迹的连续性和光滑性在整个任务过程中都保持不变。
Purpose – The purpose of this paper is to design a mobile robot controller which is able to pursue a given goal with obstacle‐avoiding capability in which the two tasks, i.e. aiming at the goal and avoiding obstacles, are fused together in a coherent framework of look‐ahead control method.Design/methodology/approach – Navigation toward a goal is typically executed based on global information obtained from GPS. Obstacle avoidance, however, is local in nature, and a higher priority temporarily should be placed on avoiding a collision with the obstacle than taking the shortest path toward the goal. The former is handled by the goal‐aiming mode while the latter is dealt with by the obstacle‐avoiding mode. These two tasks with different natures are treated under so‐called “look‐ahead control” by simply changing coordinate frames and associated elements within the same controller. Therefore, continuity and smoothness of the resulting motion and trajectory is maintained throughout its mission.Findings – Two diff...