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Authors: Mariolino De Cecco 1 ; Enrico Marcuzzi 2 ; Luca Baglivo 2 and Mirco Zaccariotto 2

Affiliations: 1 University of Trento, Italy ; 2 CISAS, Centre of Studies and Activities for Space, Italy

Keyword(s): AGV, reactive simulation, obstacle avoidance.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vehicle Control Applications

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.

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Paper citation in several formats:
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 1: ICINCO; ISBN 978-972-8865-60-3; ISSN 2184-2809, SciTePress, pages 128-135. DOI: 10.5220/0001216501280135

@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 1: ICINCO},
year={2006},
pages={128-135},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001216501280135},
isbn={978-972-8865-60-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - REACTIVE SIMULATION FOR REAL-TIME OBSTACLE AVOIDANCE
SN - 978-972-8865-60-3
IS - 2184-2809
AU - De Cecco, M.
AU - Marcuzzi, E.
AU - Baglivo, L.
AU - Zaccariotto, M.
PY - 2006
SP - 128
EP - 135
DO - 10.5220/0001216501280135
PB - SciTePress

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