个人信息Personal Information
教授
硕士生导师
主要任职:创新创业学院副院长
性别:男
毕业院校:大连理工大学
学位:博士
所在单位:创新创业学院
学科:控制理论与控制工程. 通信与信息系统. 检测技术与自动化装置
办公地点:创新创业学院,学生创新实践中心 407
联系方式:0411-84708792
电子邮箱:zhenyuwu@dlut.edu.cn
Collision avoidance for mobile robots based on artificial potential field and obstacle envelope modelling
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论文类型:期刊论文
发表时间:2016-08-01
发表刊物:ASSEMBLY AUTOMATION
收录刊物:SCIE、EI、Scopus
卷号:36
期号:3
页面范围:318-332
ISSN号:0144-5154
关键字:Collision avoidance; Artificial potential field; Obstacle envelope modelling
摘要:Purpose - This paper aims to investigate the collision avoidance problem for a mobile robot by constructing an artificial potential field (APF) based on geometrically modelling the obstacles with a new method named the obstacle envelope modelling (OEM).
Design/methodology/approach - The obstacles of arbitrary shapes are enveloped in OEM using the primitive, which is an ellipse in a two-dimensional plane or an ellipsoid in a three-dimensional space. As the surface details of obstacles are neglected elegantly in OEM, the workspace of a mobile robot is made simpler so as to increase the capability of APF in a clustered environment.
Findings - Further, a dipole is applied to the construction of APF produced by each obstacle, among which the positive pole pushes the robot away and the negative pole pulls the robot close.
Originality/value - As a whole, the dipole leads the robot to make a derivation around the obstacle smoothly, which greatly reduces the local minima and trajectory oscillations. Computer simulations are conducted to demonstrate the effectiveness of the proposed approach.