Planning and Navigation by a Mobile Robot in the Presence of Multiple Moving Obstacles and Their Velocities
Planning and Navigation by a Mobile Robot in the Presence of Multiple Moving Obstacles and Their Velocities
复制标题
存在多个移动障碍物及其速度时移动机器人的规划和导航
DOI：
10.20965/jrm.1996.p0058
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发表时间：
1994
期刊：
影响因子：
--
通讯作者：
S. Arimoto
中科院分区：
文献类型：
--
作者：
T. Tsubouchi;T. Naniwa;S. Arimoto
提出了一种适用于移动的机器人的导航方案，该方案可以在多个移动障碍物的环境中工作。作者提出了一种“迭代预测和规划”的方法。它是假设每个障碍物以恒定的速度移动的方法。机器人的最可行路径是在（x，y，t）空间中规划的。规划和根据规划的运动被频繁地迭代，以科普移动障碍物的运动变化。通过计算机仿真，给出了所提出的导航算法的性能。
This paper presents a navigation scheme for a mobile robot which works even in an environment with multiple moving obstacles. An “iterated forecast and planning” approach is proposed by the authors. It is assumed that each obstacle moves at a constant velocity in the approach. The most feasible path for a robot is planned in (x, y, t) space. The planning and motion according to the plan are iterated frequently to cope with changes of motion of the moving obstacles. The behavior of proposed navigation algorithm is also presented by means of computer simulations.