Automatic guidance of mobile robots in two-way traffic

DOI10.1016/0005-1098(85)90113-XMaRDI QIDQ761397zbMATH OpenOpenAlexFDO

Authors L. Y. Shih

Publication date 1985

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/0005-1098(85)90113-x

zbMATH Keywords

guidance strategymobile robotobstacles

Mathematics Subject Classification ID

Learning and adaptive systems in artificial intelligence (68T05) Kinematics of mechanisms and robots (70B15) Collision of rigid or pseudo-rigid bodies (70F35) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15) Adaptive control/observation systems (93C40)

Review text

A method of control is devised to guide a mobile robot automatically through a passage without collision in an environment of obstacles. The guidance strategy is based on the premise that each obstacle exerts upon the mobile robot a repulsion, which varies inversely with the distance between the robot and the obstacle, and becomes infinite as the robot approaches the obstacle. To reduce the processing time a simple kinematic model is considered; no account is taken of dynamic effects and wheel slips. However, the mobile robot is said to be intelligent, such that deviations from the ideal path due to realistic conditions may be for the most part corrected by subsequent inputs from the sensory device.

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Cited in

(6)

• On the problem of multiple mobile robots cluttering a workspace
• A dynamical model of visually-guided steering, obstacle avoidance, and route selection
• Navigation control for a mobile robot
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• A method for guidance and control of an autonomous vehicle in problems of border patrolling and obstacle avoidance

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