Volume 26 Issue 5
Sep.  2004
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ZHANG Feng, TAN Da-long. Mobile Robot Real-time Motion Planning Based on the Relative Coordinates in Dynamic and Unknown Environments[J]. ROBOT, 2004, 26(5): 434-438.
Citation: ZHANG Feng, TAN Da-long. Mobile Robot Real-time Motion Planning Based on the Relative Coordinates in Dynamic and Unknown Environments[J]. ROBOT, 2004, 26(5): 434-438.
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Mobile Robot Real-time Motion Planning Based on the Relative Coordinates in Dynamic and Unknown Environments

  • 1.

    Robotics Laboratory, Chinese Academy of Sciences, Shenyang 110016, China

  • 2.

    Graduate School of the Chinese Academy of Sciences, Beijing 100039, China

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  • Received Date: March 06, 2004
  • Published Date: September 14, 2004
    Graphical Abstract
    • Abstract
  • A simple and novel motion planning method for mobile robot is presented in this paper. Motion planning is achieved by adjusting the robot behavior according to information from sensors based on the relative coordinates. The robot has two behaviors in the course of planning:moving to the goal and collision avoidance, and the collision avoidance behavior has the higher priority. The switch of two behaviors is based on the acceleration space coordinates. The problem of collision avoidance is solved, and the behavior of moving to the goal is considered as a reverse problem of the avoidance. Simulation results verify the validity.
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    • References (8)
  • [1]
    Khatib O. Real time collision avoidance for manipulators and mobile robots[J]. The International Journal of Robotics Research, 1986,5(1):90-98.
    [2]
    Shiller Z, Large F, Sekhavat S. Motion planningin dynamic enviroments:obstacle moving along arbitary trajectories[A]. Proceedings of the 2001 IEEE International Conference on Robotics & Automation[C]. Seoul, Korea:2001.21-26.
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    Fiorini P, Shiller Z. Motion planning in dynamic enviroments using the relative velocity paradigm[A]. Proceedings of the IEEE International Conference on Robotics and Automation [C]. Atlanta GA:1993. 560-565.
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    Fiorini P, Shiller Z. Motion planning in dynamic enviroments using velocity obstacles [J].The International Journal of Robotics Research, 1998,17(7):760-772.
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    Shiller Z. Online suboptimal collision avoidance[J]. The International Journal of Robotics Research, 2000,19(5):480-497.
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    Large F, Sekhavat S, Shiller Z. Towards real-time global motion planning in a dynamic environment using the NLVO concept[A].Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots & Systems[C]. Lausanne, Switzerland:2002. 607-612.
    [7]
    Zhang F, Tan D L. collision avoidance for mobile robots based on relative coordinates[A]. Proceedings of the IEEE International Conference on Robotics, Intelligent Systems and Signal Processing [C].Changsha, China:2003. 616-621.
    [8]
    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.
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