Practical Obstacle Avoidance for a Nonholonmic Vehicle Considering Its Shape

Autor:	Masatoshi Hikizu, Satoshi Shibayama, Hiroaki Seki, Yoshitsugu Kamiya
Rok vydání:	2008
Předmět:	Nonholonomic system Obstacle avoidance algorithm Engineering business.industry Mechanical Engineering Power (physics) Computer Science::Robotics Obstacle Obstacle avoidance Configuration space business Omnidirectional antenna Simulation Resultant force
Zdroj:	Journal of the Japan Society for Precision Engineering. 74:853-858
ISSN:	1882-675X 0912-0289
DOI:	10.2493/jjspe.74.853
Popis:	A fast obstacle avoidance algorithm based on sensor data is required for an autonomous vehicle to move at high speed. When a vehicle is nonholonomic and it has polygonal body, the method using configuration space is usually applied to such a vehicle. But, it is complex and it needs much computing power. On the other hand, artificial potential field is often used for real-time obstacle avoidance, however, most of them consider a vehicle as an omnidirectional movable point.Therefore, we propose a new method of practical obstacle avoidance for a nonholonomic vehicle with rectangular body. Application points of repulsive forces from obstacles are located in both the front and rear of vehicle's body. Their forces are generated according to the distances between obstacle and vehicle's body. Rear forces are transferred to the front by inverting and the resultant force moves the vehicle. This idea is very simple and its effectiveness has been shown by simulation.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::a6fedcc3fb60788e939b8a77bca3ead4 https://doi.org/10.2493/jjspe.74.853 Zobrazit plný text záznamu