期刊
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
卷 348, 期 4, 页码 718-737出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.jfranklin.2011.01.013
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资金
- National Science Council of Taiwan, R.O.C. [NSC 99-2218-E-155-001]
Generally speaking, the mobile robot is capable of sensing its surrounding environment, interpreting the sensed information to obtain the knowledge of its location and the environment, and planning a real-time trajectory to reach the object. In this process, the issue of obstacle avoidance is a fundamental topic to be challenged. Thus, a switching path-planning control scheme is designed without detailed environmental information, large memory size, and heavy computation burden in this study for the obstacle avoidance of a mobile robot. In this scheme, the robot can gradually approach its object according to the motion tracking mode, obstacle avoidance mode, self-rotation mode, and robot state selection designed by learning and expert rules for enhancing the tracking speed and adapting to different environments. The effectiveness of the proposed adaptive path-planning control scheme is verified by numerical simulations and experimental results of a differential-driving mobile robot under the possible occurrence of obstacle shapes. (C) 2011 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
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