A virtual centrifugal force based navigation algorithm for explorative robotic tasks in unknown environments
文献类型：期刊论文
| 作者 | Su, LY; Tan, M
|
| 刊名 | ROBOTICS AND AUTONOMOUS SYSTEMS
 |
| 出版日期 | 2005-06-30 |
| 卷号 | 51期号:4页码:261-274 |
| 关键词 | environment exploration multi-robotic task navigation algorithm virtual centrifugal force |
| 英文摘要 | 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. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics |
| 研究领域[WOS] | Automation & Control Systems ; Computer Science ; Robotics |
| 关键词[WOS] | MOBILE ROBOTS ; LOCALIZATION |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000229892300003 |
| 公开日期 | 2015-12-24 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/9170]  |
| 专题 | 自动化研究所_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. |
入库方式： OAI收割
来源：自动化研究所
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