Safe and high speed navigation of a patrol robot in occluded dynamic obstacles

Min Ki Choi, Woojin Chung

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

2 Citations (Scopus)

Abstract

It is difficult to detect all dynamic obstacles around a robot due to the limitation of field of view. Visibility information is necessary in order to avoid collisions. In previous research, we proposed a path planning and speed control scheme that could be applied to a robot to avoid occluded dynamic obstacles. In this paper experimental verifications of the proposed scheme for various environments are presented. The path planning scheme is improved by considering the robot s moving direction. Experimental results show that the proposed high speed navigation of a patrol robot can be achieved together with safety.

Original languageEnglish
Title of host publicationProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Edition1 PART 1
DOIs
Publication statusPublished - 2008
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: 2008 Jul 62008 Jul 11

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume17
ISSN (Print)1474-6670

Other

Other17th World Congress, International Federation of Automatic Control, IFAC
CountryKorea, Republic of
CitySeoul
Period08/7/608/7/11

Keywords

  • Life care intelligent robot

ASJC Scopus subject areas

  • Control and Systems Engineering

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