Document Type

Article

Publication Date

6-1991

Publication Title

IEEE Transactions on Robotics and Automation

Volume

7

Issue

3

First Page

390

Last Page

397

Abstract

Models and control strategies for dynamic obstacle avoidance in visual guidance of mobile robot are presented. Characteristics that distinguish the visual computation and motion-control requirements in dynamic environments from that in static environments are discussed. Objectives of the vision and motion planning are formulated as: 1) finding a collision-free trajectory that takes account of any possible motions of obstacles in the local environment; 2) such a trajectory should be consistent with a global goal or plan of the motion; and 3) the robot should move at as high a speed as possible, subject to its kinematic constraints. A stochastic motion-control algorithm based on a hidden Markov model (HMM) is developed. Obstacle motion prediction applies a probabilistic evaluation scheme. Motion planning of the robot implements a trajectory-guided parallel-search strategy in accordance with the obstacle motion prediction models. The approach simplifies the control process of robot motion.

Comments

© 1991 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

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