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A virtual centrifugal force based navigation algorithm for explorative robotic tasks in unknown environments
Su, LY; Tan, M
Source PublicationROBOTICS AND AUTONOMOUS SYSTEMS
2005-06-30
Volume51Issue:4Pages:261-274
SubtypeArticle
AbstractIn many robotic tasks, there is no a priori knowledge of the environment. This makes it necessary for robots to explore the environment. Navigation algorithms for robots to map the environment completely in a short time play a very important role in the robotic task completion. A navigation algorithm based on virtual centrifugal force is proposed to complete the robotic exploration of the unknown environment using rang sensors in this paper. Collisions between a robot and an obstacle or between robots can be avoided with the application of the proposed navigation rules. The kinematics and dynamics equations of robots adopting the algorithm are also given. The simulation experiments demonstrate the operation of the algorithm. Several simulation experiments of various representative robotic tasks are carried out, based on the explorative navigation algorithm, which successfully validate the virtual centrifugal force based navigation algorithm. (c) 2005 Elsevier B.V. All rights reserved.
KeywordEnvironment Exploration Multi-robotic Task Navigation Algorithm Virtual Centrifugal Force
WOS HeadingsScience & Technology ; Technology
WOS KeywordMOBILE ROBOTS ; LOCALIZATION
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Computer Science ; Robotics
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics
WOS IDWOS:000229892300003
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9170
Collection09年以前成果
Affiliation1.Beijing Univ Technol, Coll Mech Engn, Beijing 100080, Peoples R China
2.Chinese Acad Sci, Inst Automat, Beijing 100080, Peoples R China
Recommended Citation
GB/T 7714
Su, LY,Tan, M. A virtual centrifugal force based navigation algorithm for explorative robotic tasks in unknown environments[J]. ROBOTICS AND AUTONOMOUS SYSTEMS,2005,51(4):261-274.
APA Su, LY,&Tan, M.(2005).A virtual centrifugal force based navigation algorithm for explorative robotic tasks in unknown environments.ROBOTICS AND AUTONOMOUS SYSTEMS,51(4),261-274.
MLA Su, LY,et al."A virtual centrifugal force based navigation algorithm for explorative robotic tasks in unknown environments".ROBOTICS AND AUTONOMOUS SYSTEMS 51.4(2005):261-274.
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