A virtual centrifugal force based navigation algorithm for explorative robotic tasks in unknown environments

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	A virtual centrifugal force based navigation algorithm for explorative robotic tasks in unknown environments
	Su, LY ; Tan, M
发表期刊	ROBOTICS AND AUTONOMOUS SYSTEMS
	2005-06-30
卷号	51 期号:4 页码:261-274
文章类型	Article
摘要	In 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.
关键词	Environment Exploration Multi-robotic Task Navigation Algorithm Virtual Centrifugal Force
WOS标题词	Science & Technology ; Technology
关键词[WOS]	MOBILE ROBOTS ; LOCALIZATION
收录类别	SCI
语种	英语
WOS研究方向	Automation & Control Systems ; Computer Science ; Robotics
WOS类目	Automation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics
WOS记录号	WOS:000229892300003
引用统计	被引频次：5[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/9170
专题	09年以前成果
作者单位	1.Beijing Univ Technol, Coll Mech Engn, Beijing 100080, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing 100080, Peoples R China
推荐引用方式 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.