TY - GEN
T1 - Safe and high speed navigation of a patrol robot in occluded dynamic obstacles
AU - Choi, Min Ki
AU - Chung, Woojin
PY - 2008
Y1 - 2008
N2 - It is difficult to detect all dynamic obstacles around a robot due to the limitation of field of view. Visibility information is necessary in order to avoid collisions. In previous research, we proposed a path planning and speed control scheme that could be applied to a robot to avoid occluded dynamic obstacles. In this paper experimental verifications of the proposed scheme for various environments are presented. The path planning scheme is improved by considering the robot s moving direction. Experimental results show that the proposed high speed navigation of a patrol robot can be achieved together with safety.
AB - It is difficult to detect all dynamic obstacles around a robot due to the limitation of field of view. Visibility information is necessary in order to avoid collisions. In previous research, we proposed a path planning and speed control scheme that could be applied to a robot to avoid occluded dynamic obstacles. In this paper experimental verifications of the proposed scheme for various environments are presented. The path planning scheme is improved by considering the robot s moving direction. Experimental results show that the proposed high speed navigation of a patrol robot can be achieved together with safety.
KW - Life care intelligent robot
UR - http://www.scopus.com/inward/record.url?scp=79961017835&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79961017835&partnerID=8YFLogxK
U2 - 10.3182/20080706-5-KR-1001.2969
DO - 10.3182/20080706-5-KR-1001.2969
M3 - Conference contribution
AN - SCOPUS:79961017835
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -