张凤, 谈大龙. 一种基于相对坐标系下移动机器人动态实时避碰的新方法[J]. 机器人, 2003, 25(1): 31-34,79.
引用本文: 张凤, 谈大龙. 一种基于相对坐标系下移动机器人动态实时避碰的新方法[J]. 机器人, 2003, 25(1): 31-34,79.
ZHANG Feng, TAN Dalong. A NEW REAL-TIME AND DYNAMIC COLLISION AVOIDANCE METHOD OF MOBILE ROBOTS BASED ON RELATIVE COORDINATES[J]. ROBOT, 2003, 25(1): 31-34,79.
Citation: ZHANG Feng, TAN Dalong. A NEW REAL-TIME AND DYNAMIC COLLISION AVOIDANCE METHOD OF MOBILE ROBOTS BASED ON RELATIVE COORDINATES[J]. ROBOT, 2003, 25(1): 31-34,79.

一种基于相对坐标系下移动机器人动态实时避碰的新方法

A NEW REAL-TIME AND DYNAMIC COLLISION AVOIDANCE METHOD OF MOBILE ROBOTS BASED ON RELATIVE COORDINATES

  • 摘要: 本文提出了一种机器人在动态环境下的动态实时避碰的新方法.此方法是基于相对坐标系,在加速度空间中,通过动态实时地调整机器人自身速度的大小和方向使其离开碰撞区域,即碰撞危险区域,达到与动、静态障碍物之间的避碰.仿真实验验证了此方法的有效性.

     

    Abstract: A new real time and dynamic collision avoidance method for mobile robots based on relative coordinates is presented.To avoid collision with the static and dynamic obstacles,we move the relative velocity away from the collisions field by adjusting the robot velocity value and direction real time dynamically in acceleration space based on relative coordinates. The simulation results verify the efficiency of the method.

     

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