REACTIVE SIMULATION FOR REAL-TIME OBSTACLE AVOIDANCE

Mariolino De Cecco, Enrico Marcuzzi, Luca Baglivo, Mirco Zaccariotto

Abstract

This paper provides a new approach to the dynamic path planning and obstacle avoidance in unknown and dynamic environments. The system is based on the interaction between four different modules: the Path Planner, the Graph which memorizes all the local target, the “Sentinel”, and the module which computes the Reactive Simulation every time an obstacle is detected along the path. The Reactive Simulation takes in account the kinematics model of the vehicle and the actual state conditions to make a real-time simulation in order to predict the trajectory of the differential drive robot that would allow the safe reaching of the local target.

References

  1. Oussama Khatib, 1986, Real-Time Obstacle Avoidance for Manipulators and Mobile Robot, in: The International Journal of Robotics Research, Vol. 5, No 1.
  2. Y. Koren, J. Borentein, 1991, Potential Field Methods and their Inherent Limitations for Mobile Robot Navigation, in: Proceedings of the IEEE conference on Robotics and automation, Sacramento, California, April 7-12, pp 1398-1404.
  3. J. Borentein, Y. Koren, 1991, The Vector Field histogram - fast obstacle avoidance for mobile robot, in: IEEE Journal of Robotics and Automation, Vol 7, No 3, June, pp. 278-288.
  4. Minguez, J., Montano, L., 2005. Sensor-based motion generation in unknown, dynamic and troublesome scenarios,in: Robotics and Automation Systems. 52, pp 290-311.
  5. E.M. Nebot, H. Durrant-Whyte, 1999, A High Integrity Navigation Architecture For Outdoor Autonomous Vehicles, Robotics and Autonomous Systems, Vol 26, p81-97.
  6. Alonzo Kelly, Bryan Nagy, 2002, Reactive Nonholonomic Trajectory Generation via Parametric Optimal Control, submitted to the International Journal of Robotics Research, Summer
  7. I. Ulrich, J. Borentein, 1998, VFH+: Reliable Obstacle Avoidance for Fast Mobile Robot, in: Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 16-21, pp. 1572-1577
  8. I. Ulrich, J. Borentein, 2000, VFH*: Local Obstacle Avoidance with Look-Ahead Verification, in: 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA, April 24-28, pp. 2505-2511
  9. M. De Cecco, 2002, Self-Calibration of AGV InertialOdometric Navigation Using Absolute-Reference Measurement, in: IEEE Instrumentation and Measurement Technology Conference, Anchorage, AK, USA, 21-23 May
  10. M. De Cecco, 2000, A new concept for triangulation measurement of AGV attitude and position, in: Measurement Science and Technology, vol 11, pp 105- 110
  11. J. Chestnutt, J. Kuffner, K. Nishiwaki, S. Kagami, 2003, Planning Biped Navigation Strategies in Complex Environments, in:IEEE Int'l Conf. on Humanoid Robotics (Humanoids 2003)
  12. A. Stentz, 1994, Optimal and Efficient Path Planning for Partially-Known Environments, Proc. Of IEEE International Conference on Robotics and Automation, May 1994
  13. L. Baglivo, M. De Cecco, F. Angrilli, F. Tecchio, A. Pivato, 2005, An integrated hardware/software platform for both Simulation and Real-Time Autonomous Guided Vehicle Navigation, Proceedings 19th European Conference on Modelling and Simulation
  14. M. De Cecco, L. Baglivo, E. Ervas, E. Marcuzzi, 2006, Asynchronous And Time-Delayed Sensor Fusion Of A Laser Scanner Navigation System And Odometry, XVIII Imeko World Congress Metrology For a Sustainable Development, September, 17 - 22, 2006, Rio de Janeiro, Brazil, in publication
Download


Paper Citation


in Harvard Style

De Cecco M., Marcuzzi E., Baglivo L. and Zaccariotto M. (2006). REACTIVE SIMULATION FOR REAL-TIME OBSTACLE AVOIDANCE . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 128-135. DOI: 10.5220/0001216501280135


in Bibtex Style

@conference{icinco06,
author={Mariolino De Cecco and Enrico Marcuzzi and Luca Baglivo and Mirco Zaccariotto},
title={REACTIVE SIMULATION FOR REAL-TIME OBSTACLE AVOIDANCE},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={128-135},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001216501280135},
isbn={978-972-8865-60-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - REACTIVE SIMULATION FOR REAL-TIME OBSTACLE AVOIDANCE
SN - 978-972-8865-60-3
AU - De Cecco M.
AU - Marcuzzi E.
AU - Baglivo L.
AU - Zaccariotto M.
PY - 2006
SP - 128
EP - 135
DO - 10.5220/0001216501280135