摘要
Most research in robotics did not consider the motion of obstacles and therefore the applications were limited. In this paper, we present a design and implementation of a navigation system for a mobile robot in a dynamic environment. The proposed system has the following functions: sensor data fusion, obstacle avoidance (static and moving obstacles), environment information updating, and real-time path planning and replanning. These functions should be executed almost simultaneously. To achieve this goal, a blackboard architecture has been adopted to coordinate the computation. Experimental navigation results are presented and discussed.
| 原文 | English |
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| 頁面 | 766-771 |
| 頁數 | 6 |
| DOIs | |
| 出版狀態 | Published - 9 8月 1996 |
| 事件 | Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 3) - Taipei, Taiwan 持續時間: 5 8月 1996 → 10 8月 1996 |
Conference
| Conference | Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 3) |
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| 城市 | Taipei, Taiwan |
| 期間 | 5/08/96 → 10/08/96 |