Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 30663
Self-protection Method for Flying Robots to Avoid Collision

Authors: Guosheng Wu, Luning Wang, Changyuan Fan, Xi Zhu

Abstract:

This paper provides a new approach to solve the motion planning problems of flying robots in uncertain 3D dynamic environments. The robots controlled by this method can adaptively choose the fast way to avoid collision without information about the shapes and trajectories of obstacles. Based on sphere coordinates the new method accomplishes collision avoidance of flying robots without any other auxiliary positioning systems. The Self-protection System gives robots self-protection abilities to work in uncertain 3D dynamic environments. Simulations illustrate the validity of the proposed method.

Keywords: Mobile Robots, Collision Avoidance, Motion-planning, Sphere coordinates, Self-protection

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1073303

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1217

References:


[1] Y.Wang, L. Han, M. Li, Q.Wang, J. Zhou, M. Cartmell, "A real-time path planning approach without the computation of Cspace obstacles," Robotica, vol. 22, pp. 173-187, 2004.
[2] O.Khatib, "Real-time obstacle for manipulators and mobile robot," The Int. J. Robotic Research, vol. 5, no. 1, pp. 90-99, 1986.
[3] Holland J.H., "Genetic algorithms and the optimal allocations of trails," SIAM J. of Computing, vol. 2, no. 2, pp. 88-105, 1973.
[4] Fox, D., Burgard, W. and Thrun, S., "The Dynamic Window Approach to Collision Avoidance," IEEE J. Robotics and Automation, vol. 4, no. 1, pp. 23-33, 1997.
[5] O. Brock, O. Khatib, "High-speed navigation using the global dynamic window approach," Proc. the IEEE Int. Conf. on Robotics and Automation, vol. 1, pp. 341-346, 1999.
[6] Xing-Jian Jing, "Behavior dynamics based motion planning of mobile robots in uncertain dynamic environments," Robotics and Autonomous Systems, vol. 53, pp. 99-123, 2005.
[7] Asimov I, Fredkel K A, Robots: Machines in Man-s Image. New York: Harmony Books, 1985.
[8] M. Kise, Q. Zhang, N. Noguchi, "An Obstacle Identification Algorithm for a Laser Range Finder-Based Obstacle Detector," Trans. the ASAE, vol. 48, no. 3, pp. 1269-1278, 2005.
[9] Arras, K. O., N. Tomatis, B. T. Jensen and R. Siegwart, "Multisensor on-the-fly localization: Precision and reliability for applications," Robotics and Autonomous Systems, vol. 34, no. 2-3, pp. 131-143, 2001.