中国科学院自动化研究所机构知识库

While different species in nature have safely solved the problem of navigation in a dynamic environment, this remains a challenging task for researchers around the world. The paper addresses the problem of autonomous navigation in an unknown dynamic environment for a single and a group of three wheeled omnidirectional mobile robots (TWOMRs). The robot has to track a dynamic target while avoiding dynamic obstacles and dynamic walls in an unknown and very dense environment. It adopts a behavior-based controller that consists of four behaviors: “target tracking”, “obstacle avoidance”, “dynamic wall following” and “avoid robots”. The paper considers the problem of kinematic saturation. In addition, it introduces a strategy for predicting the velocity of dynamic obstacles based on two successive measurements of the ultrasonic sensors to calculate the velocity of the obstacle expressed in the sensor frame. Further-more, the paper proposes a strategy to deal with dynamic walls even when they have U-like or V-like shapes. The approach can also deal with the formation control of a group of robots based on the leader-follower structure and the behavior-based control, where the robots have to get together and maintain a given formation while navigating toward the target, avoiding obstacles and walls in a dynamic environment. The effectiveness of the proposed approaches is demonstrated via simulation.