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http://dx.doi.org/10.5302/J.ICROS.2011.17.12.1227

Circle List-Based Obstacle Avoidance for Omni-directional Mobile Robots in Dynamic Environments  

Cheon, Hong-Seok (KAIST)
Kim, Byung-Kook (KAIST)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.12, 2011 , pp. 1227-1233 More about this Journal
Abstract
An effective method of obstacle avoidance for omni-directional mobile robots is proposed to avoid moving obstacles in dynamic environments. Our method uses the concept of circle lists which represent the trajectories of robot and obstacles. This method predicts not only collision position but also collision time, and hence it enables the robot avoiding the most urgent collision first. In order to avoid obstacles, our method uses artificial repulsive force and contraction force. Simulation results show that the robot could avoid obstacles effectively.
Keywords
omni-directional mobile robot; obstacle avoidance; moving obstacles; dynamic environment; artificial force;
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Times Cited By KSCI : 2  (Citation Analysis)
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