Dynamic obstacle avoidance approach for car-like robots in dynamic environments
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| Language: | English |
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Institute of Electrical and Electronic Engineers (IEEE)
2013
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| Online Access: | http://dspace.unimap.edu.my/xmlui/handle/123456789/26632 |
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my.unimap-266322013-07-13T05:07:31Z Dynamic obstacle avoidance approach for car-like robots in dynamic environments Mohd. Sani, Mohamad Hashim Tien-Fu, Lu Hassrizal, Hassan Basri sanihashim@unimap.edu.m Car-like robot Dynamic environment Nonholonomic robot Obstacle avoidance Trajectory planning Link to publisher's homepage at http://ieeexplore.ieee.org/ 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. 2013-07-13T05:07:31Z 2013-07-13T05:07:31Z 2012-12-03 Working Paper p. 130-135 978-146733032-9 http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6482083 http://hdl.handle.net/123456789/26632 en Proceedings of the IEEE Symposium on Computer Applications and Industrial Electronics (ISCAIE) 2012 Institute of Electrical and Electronic Engineers (IEEE) |
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Universiti Malaysia Perlis |
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Asia |
| country |
Malaysia |
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Universiti Malaysia Perlis |
| content_source |
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http://dspace.unimap.edu.my/ |
| language |
English |
| topic |
Car-like robot Dynamic environment Nonholonomic robot Obstacle avoidance Trajectory planning |
| spellingShingle |
Car-like robot Dynamic environment Nonholonomic robot Obstacle avoidance Trajectory planning Mohd. Sani, Mohamad Hashim Tien-Fu, Lu Hassrizal, Hassan Basri Dynamic obstacle avoidance approach for car-like robots in dynamic environments |
| description |
Link to publisher's homepage at http://ieeexplore.ieee.org/ |
| author2 |
sanihashim@unimap.edu.m |
| author_facet |
sanihashim@unimap.edu.m Mohd. Sani, Mohamad Hashim Tien-Fu, Lu Hassrizal, Hassan Basri |
| format |
Working Paper |
| author |
Mohd. Sani, Mohamad Hashim Tien-Fu, Lu Hassrizal, Hassan Basri |
| author_sort |
Mohd. Sani, Mohamad Hashim |
| title |
Dynamic obstacle avoidance approach for car-like robots in dynamic environments |
| title_short |
Dynamic obstacle avoidance approach for car-like robots in dynamic environments |
| title_full |
Dynamic obstacle avoidance approach for car-like robots in dynamic environments |
| title_fullStr |
Dynamic obstacle avoidance approach for car-like robots in dynamic environments |
| title_full_unstemmed |
Dynamic obstacle avoidance approach for car-like robots in dynamic environments |
| title_sort |
dynamic obstacle avoidance approach for car-like robots in dynamic environments |
| publisher |
Institute of Electrical and Electronic Engineers (IEEE) |
| publishDate |
2013 |
| url |
http://dspace.unimap.edu.my/xmlui/handle/123456789/26632 |
| _version_ |
1643795007407128576 |