Movement strategies selection of a mobile robot to avoid obstacles
The movement of a mobile robot in a non-deterministic environment is accompanied by maneuvering due to the need to avoid a collision with a fixed or moving obstacle. Under certain conditions, several obstacles, including moving ones, may appear in the near zone of the robot. In this case, trajectory...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
EDP Sciences
2023-01-01
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| Series: | E3S Web of Conferences |
| Subjects: | |
| Online Access: | https://www.e3s-conferences.org/articles/e3sconf/pdf/2023/26/e3sconf_uesf2023_07003.pdf |
| _version_ | 1827929943139418112 |
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| author | Alkhaleeli A.S.B. Lukyanov E.A. |
| author_facet | Alkhaleeli A.S.B. Lukyanov E.A. |
| author_sort | Alkhaleeli A.S.B. |
| collection | DOAJ |
| description | The movement of a mobile robot in a non-deterministic environment is accompanied by maneuvering due to the need to avoid a collision with a fixed or moving obstacle. Under certain conditions, several obstacles, including moving ones, may appear in the near zone of the robot. In this case, trajectory-planning algorithms based on a “static” approach to the position of obstacles will not be effective; their application may lead to collisions. Finding the path of movement in conditions of dynamic obstacles is an urgent task that researchers are trying to solve using various methods. The article proposes a method for planning the actions and movements of a mobile robot in non-deterministic conditions, in the presence of fixed and moving obstacles. The processes of planning the trajectories of a mobile robot in the presence of obstacles in the near zone are considered. Methods and algorithms for making decisions on avoiding obstacles based on the estimated collision probabilities in the forecast interval are proposed. |
| first_indexed | 2024-03-13T06:29:41Z |
| format | Article |
| id | doaj.art-3be3b637274f4dc18ce5a419bb49c01f |
| institution | Directory Open Access Journal |
| issn | 2267-1242 |
| language | English |
| last_indexed | 2024-03-13T06:29:41Z |
| publishDate | 2023-01-01 |
| publisher | EDP Sciences |
| record_format | Article |
| series | E3S Web of Conferences |
| spelling | doaj.art-3be3b637274f4dc18ce5a419bb49c01f2023-06-09T09:09:36ZengEDP SciencesE3S Web of Conferences2267-12422023-01-013890700310.1051/e3sconf/202338907003e3sconf_uesf2023_07003Movement strategies selection of a mobile robot to avoid obstaclesAlkhaleeli A.S.B.0Lukyanov E.A.1Don State Technical UniversityDon State Technical UniversityThe movement of a mobile robot in a non-deterministic environment is accompanied by maneuvering due to the need to avoid a collision with a fixed or moving obstacle. Under certain conditions, several obstacles, including moving ones, may appear in the near zone of the robot. In this case, trajectory-planning algorithms based on a “static” approach to the position of obstacles will not be effective; their application may lead to collisions. Finding the path of movement in conditions of dynamic obstacles is an urgent task that researchers are trying to solve using various methods. The article proposes a method for planning the actions and movements of a mobile robot in non-deterministic conditions, in the presence of fixed and moving obstacles. The processes of planning the trajectories of a mobile robot in the presence of obstacles in the near zone are considered. Methods and algorithms for making decisions on avoiding obstacles based on the estimated collision probabilities in the forecast interval are proposed.https://www.e3s-conferences.org/articles/e3sconf/pdf/2023/26/e3sconf_uesf2023_07003.pdfmobile robotrobot trajectory planningrobot controlavoidance a group of obstacles |
| spellingShingle | Alkhaleeli A.S.B. Lukyanov E.A. Movement strategies selection of a mobile robot to avoid obstacles E3S Web of Conferences mobile robot robot trajectory planning robot control avoidance a group of obstacles |
| title | Movement strategies selection of a mobile robot to avoid obstacles |
| title_full | Movement strategies selection of a mobile robot to avoid obstacles |
| title_fullStr | Movement strategies selection of a mobile robot to avoid obstacles |
| title_full_unstemmed | Movement strategies selection of a mobile robot to avoid obstacles |
| title_short | Movement strategies selection of a mobile robot to avoid obstacles |
| title_sort | movement strategies selection of a mobile robot to avoid obstacles |
| topic | mobile robot robot trajectory planning robot control avoidance a group of obstacles |
| url | https://www.e3s-conferences.org/articles/e3sconf/pdf/2023/26/e3sconf_uesf2023_07003.pdf |
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