Collision avoidance in a behavior-based mobile robot design
Collision avoidance in a behavior-based mobile robot design
复制标题
基于行为的移动机器人设计中的碰撞避免
DOI：
10.1109/robot.1991.131702
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发表时间：
1991
期刊：
影响因子：
--
通讯作者：
E. Badreddin
中科院分区：
文献类型：
--
作者：
A. Holenstein;E. Badreddin
讨论了递归嵌套控制结构设计中的避碰行为。给出了一种基于超声测距以及触觉力和力矩测量的斥力公式。避碰行为适应移动机器人的动力学。实现细节强调了尽可能保持系统带宽以提高避碰行为反射性的重要性。实际实验证实了所提方法的有效性和鲁棒性。
The collision avoidance behavior in a recursive nested control structure design is discussed. A formulation of a repulsion force based on measurements of ultrasonic range and tactile force and moment is given. The avoidance behavior adapts to the dynamics of the mobile robot. The realization details emphasize the importance of keeping the system bandwidth as large as possible to increase the reflexiveness of the avoidance behavior. Real-world experiments confirm the effectiveness and robustness of the proposed procedure.<<ETX>>