Please use this identifier to cite or link to this item:
Type: Conference paper
Title: Dynamic obstacle avoidance for an ackerman vehicle: a vector field approach
Author: Liddy, T.
Lu, T.
Harvey, D.
Citation: ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics, held in Noordwijkerhout, The Netherlands, 28-31 July, 2011; pp.93-98
Publisher: SciTePress
Publisher Place: online
Issue Date: 2011
ISBN: 9789898425751
Conference Name: International Conference on Informatics in Control, Automation and Robotics (8th : 2011 : Noordwijkerhout, The Netherlands)
Editor: Ferrier, J.L.
Bernard, A.
Gusikhin, O.
Madani, K.
Statement of
Tommie Liddy, Tien-Fu Lu and David Harvey
Abstract: A vector field navigation system was shown to avoid dynamic obstacles and reach a goal with a pre-specified position and heading using a simulated Ackerman vehicle. The navigation system was divided into two distinct vector fields, an environmental field which was created for goal oriented navigation and obstacle field which was designed for obstacle avoidance. Discussed in this paper were the methods of obstacle avoidance and combining the two fields of the navigation system. The obstacle avoidance method created a rotational vector field centred on a single obstacle. Algorithms were created to select the obstacle that would be the centre of the field and the direction of rotation of the field. A parameter based method was used to combine the obstacle field and the environmental field. A simulation workspace was created to show the navigation behaviours created by combining these methods and a sample of these results were presented in this paper.
Rights: Copyright status unknown
Description (link):
Appears in Collections:Aurora harvest 5
Mechanical Engineering conference papers

Files in This Item:
There are no files associated with this item.

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.