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New real-time and dynamic collision avoidance method of mobile robots based on relative coordinates

By 张凤 and 谈大龙

Abstract

本文提出一种机器人在动态环境下的动态实时避碰的新方法,此方法是基于相对坐标系,在加速度空间中,通过动态实时地调整机器人自身速度的大小和方向使其离开碰撞区域,即碰撞危险区域,达到与动、静态障碍物之间的避碰,仿真实验验证了此方法的有效性

Topics: 移动机器人, 动态实时避碰, 相对坐标系, 运动规划
Year: 2003
OAI identifier: oai:ir.sia.cn/:173321/3120
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