local path planning of Mobile Robots in dynamic unknown environment based on prediction of collision
The velocity and its distribution of obstacles is observed by an adaptive Unscented Kalman Filter, based on which the position of the dangerous region (potential collision region) is predicted. And based on its distribution, the dangerous region is expanded to ensure the security. By finding the best Free Road and estimate the danger, a data reduction technique is employed to compress all the information needed, with the help of which the efficiency is improved significantly. Benefit from those the proposed algorithm gets a better performance in dynamic environment. The results of simulations have proved that.
local path planning fuzzy logic control dynamic environment collision predict (key words)
Yang GAO Shu-dong SUN
Institution of System Integrated & Engineering Management Key Laboratory of Contemporary Design and Integrated Manufacturing Technology,Ministry of Education,Northwestern Polytechnic University
国际会议
长沙
英文
1028-1032
2009-04-11（万方平台首次上网日期，不代表论文的发表时间）