This paper presents a collision avoidance technique of mobile robots for moving obstacles in unknown environments. The mobile robot considered in this paper has a sensor measuring the distance between the robot and a moving obstacle, such as an ultrasonic sonar or infrared sensor. Avoidance behaviour for moving obstacles is proposed. The collision avoidance conditions for two typical aspects under which the robot encounters a moving obstacle are derived and are used as guidelines for designing the navigation parameters. The effectiveness of the proposed technique is demonstrated by numerical simulation examples.
KilmJ.-O.KhoslaP. K.Real-time obstacle avoidance using harmonic potential functions. IEEE Trans. Robot. and Automn, 1992, RA-8 (3), 338–349.
2.
RamA.ArkinR. C.MoormanK.ClarkR. J.Case-based reactive navigation: A method for on-line selection and adaptation of reactive robotic control parameters. IEEE Trans. Systems, Man and Cybernetics, 1997, SMC-27 (3), 376–393.
3.
FujimoriA.NikiforukP. N.GuptaM. M.Adaptive navigation of mobile robots and obstacle avoidance. IEEE Trans. Robot. and Automn, 1997, RA-13 (4), 596–602.
4.
SutnerK.MaassW.Motion planning among time dependent obstacles. Acta Informatica, 1988, 26, 93–122.
5.
ShihC.LeeT.GruverW. A.A unified approach for robot motion planning with moving polyhedral obstacles. IEEE Trans. Systems, Man and Cybernetics, 1990, SMC-20, 903–915.
6.
FujimuraK.Motion planning in time-varying environments. Recent Trends in Mobile Robots, 1993, 33–54.
7.
FujimoriA.TeramotoM.NikiforukP. N.GuptaM. M.Cooperative collision avoidance between multiple mobile robots. J. Robotic Systems, 2000, 17 (7), 347–363.
8.
FujimoriA.OgawaY.NikiforukP. N.A modification of cooperative collision avoidance for multiple mobile robots using avoidance circle. Proc. Instn. Mech. Engrs, Part I: J. Systems and Control Engineering, 2002, 216 (13), 291–299.
9.
OrioloG.UliviG.VendittelliM.Real-time map building and navigation for autonomous robots in unknown environments. IEEE Trans. Systems, Man and Cybernetics, Part B, 1998, SMC-28 (3), 316–333.
