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https://hdl.handle.net/2440/85496
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Type: | Conference paper |
Title: | Dynamic obstacle avoidance approach for car-like robots in dynamic environments |
Author: | Mohamad Hashim, M. Lu, T. Basri, H. |
Citation: | 2012 International Symposium on Computer Applications and Industrial Electronics (ISCAIE 2012), 2012, pp.130-135 |
Publisher: | IEEE |
Publisher Place: | Online |
Issue Date: | 2012 |
ISBN: | 9781467330329 |
Conference Name: | 2012 International Symposium on Computer Applications and Industrial Electronics (3 Dec 2012 - 4 Dec 2012 : Kota Kinabalu, Malaysia) |
Statement of Responsibility: | Mohd Sani Mohamad Hashim, Tien-Fu Lu, Hassrizal Hassan Basri |
Abstract: | In this paper, a new dynamic obstacle avoidance approach for nonholonomic mobile robots in dynamic environments is presented. In dynamic environments, the mobile robot is expected to encounter and safely avoid the obstacles along its way. This inevitably will delay the mobile robot in keeping to its original planned timeframe. To address this scenario, the proposed approach will ensure the mobile robot is able to gain the time lost during obstacle avoidance and reach the final point at the specified time. This approach is based on the dynamic trajectory planning scheme which utilized the replanning approach in order to avoid the obstacle. The performance of the proposed approach is tested through simulations in a simplified city-like dynamic environment. |
Rights: | ©2012 IEEE |
DOI: | 10.1109/ISCAIE.2012.6482083 |
Published version: | http://dx.doi.org/10.1109/iscaie.2012.6482083 |
Appears in Collections: | Aurora harvest 7 Mechanical Engineering conference papers |
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