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Dynamic obstacle avoidance approach for car-like robots in dynamic environments

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Main Authors: Mohd. Sani, Mohamad Hashim, Tien-Fu, Lu, Hassrizal, Hassan Basri
Other Authors: sanihashim@unimap.edu.m
Format: Working Paper
Language:English
Published: Institute of Electrical and Electronic Engineers (IEEE) 2013
Subjects:
Car-like robot
Dynamic environment
Nonholonomic robot
Obstacle avoidance
Trajectory planning
Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/26632
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id my.unimap-26632
record_format dspace
spelling 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)
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider 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
score 13.219503

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