Robot navigation in a known environment with unknown moving obstacles

Steven Ratering, Maria Gini

Research output: Chapter in Book/Report/Conference proceedingConference contribution

20 Scopus citations

Abstract

We propose a new type of artificial potential field, that we call hybrid potential field, to navigate a robot in situations in which the environment is known except for unknown and possibly moving obstacles. We show how to compute hybrid potential fields in real time and use them to control the motions of a real robot. Our method is tested on both a simulated robot and a real one. We show extensive simulation results with up to 50 randomly moving obstacles. We present a feature matching approach for error position correction that we have validated experimentally with our mobile robot.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages25-30
Number of pages6
ISBN (Print)0818634529
StatePublished - Jan 1 1993
EventProceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA
Duration: May 2 1993May 6 1993

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume3
ISSN (Print)1050-4729

Other

OtherProceedings of the IEEE International Conference on Robotics and Automation
CityAtlanta, GA, USA
Period5/2/935/6/93

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