On-line navigation of mobile robot among moving obstacles using ultrasonic sensors

Nobuhiro Ushimi, Motoji Yamamoto, Jyun'ichi Inoue, Takuya Sugimoto, Manabu Araoka, Takeshi Matsuoka, Toshihiro Kiriki, Yuuki Yamaguchi, Tsutomu Hasegawa, Akira Mohri

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

2 Citations (Scopus)

Abstract

This paper proposes a realistic on-line navigation method of the mobile robot in dynamical environment where multiple obstacles are always changing their velocities. Considering characteristics of actual sensor system, a method to estimate the velocity of moving obstacles is presented. The estimated velocity and measured distance from the nearest obstacle are used to plan a velocity of mobile robot based on a new idea of Collision Possibility Cone(CPC). Then an on-line navigation method is proposed by using CPC and feasible velocity space of mobile robot. Simulational examples show an effectiveness oft he new navigation.

Original languageEnglish
Title of host publicationRoboCup 2001
Subtitle of host publicationRobot Soccer World Cup V
PublisherSpringer Verlag
Pages477-483
Number of pages7
ISBN (Print)3540439129, 9783540439127
DOIs
Publication statusPublished - 2002
Event5th Robot World Cup Soccer Games and Conferences, RoboCup 2001 - Seattle, WA, United States
Duration: Aug 2 2001Aug 10 2001

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume2377 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other5th Robot World Cup Soccer Games and Conferences, RoboCup 2001
CountryUnited States
CitySeattle, WA
Period8/2/018/10/01

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

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