제어로봇시스템학회:학술대회논문집

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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MODELING AND CONTROL STRATEGIES FOR DYNAMICAL OBSTACLE AVOIDANCE BY MOBILE ROBOT

  • Zhu, Q. (Center for Robotics and Advanced AutoMation Oakland University) ;
  • Loh, N.K. (center for Robotics and Advanced AutoMation Oakland University)
  • 발행 : 1989.10.01
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초록

This paper presents a theoretic study and computer simulation of models and approaches for dynamical obstacle avoidance by mobile robots. The movement of obstacles in unknown environment is described by any one or a combination of three models. The control strategy of the mobile robots is formulated based on one of three approaches. A trajectory-guided control strategy for dynamical obstacle avoidance has been developed. The method greatly simplifies the control process of mobile robots, and is computationally attractive.

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