REACTIVE SIMULATION FOR REAL-TIME OBSTACLE AVOIDANCE

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

2006

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

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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