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题名: Obstacle avoidance for mobile robots based on relative coordinates
作者: Zhang F(张凤) ; Tan DL(谈大龙) ; Wei YZ(魏英姿)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Robotics, Intelligent Systems and Signal Processing
会议日期: October 8-13, 2003
会议地点: Changsha, China
会议主办者: Chinese High tech Dev Program, Chinese Acad Sci, Chinese Soc Automat, IEEE Syst, Man & Cybernet Soc, Chinese Univ Hong Kong, Natl Univ Def Technol, IEEE Hong Kong RA & CS Joint Chapter, Joint Ctr Intelligen Sensing & Syst, Sch Elect Sci & Engn, Sch Mechatron Engn & Automat
会议录: 2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2003
页码: 616-621
收录类别: CPCI(ISTP)
ISBN号: 0-7803-7925-X
摘要: This paper describes a novel obstacle avoidance method for mobile robots based on relative coordinates; that is, we describe a method whereby each robot may determine the pose of others relative to itself This method does not require GPS, landmarks, or any kind of environment model. Instead, robots make direct measurements of the relative pose of nearby robots, predict the danger field by the collision cone between the relative velocity of robot with respect to obstacles and the LOS (line-of-sight), and adjust the varieties of robot velocity and direction real time and dynamically in acceleration space. The simulation results verify the efficiency of the method.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8811
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
张凤; 谈大龙; 魏英姿.Obstacle avoidance for mobile robots based on relative coordinates.见:IEEE .2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS,NEW YORK,2003,616-621
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