Behavior-based Autonomous Navigation and Formation Control of Mobile Robots in Unknown Cluttered Dynamic Environments with Dynamic Target Tracking
文献类型：期刊论文
| 作者 | Nacer Hacene1,2 |
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 2021 |
| 卷号 | 18期号:5页码:766-786 |
| 关键词 | Behavior-based autonomous navigation dynamic obstacles and walls dynamic target tracking formation control of multi-robot systems dynamic environment |
| ISSN号 | 1476-8186 |
| DOI | 10.1007/s11633-020-1264-x |
| 英文摘要 | 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. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/45462]  |
| 专题 | 自动化研究所_学术期刊_International Journal of Automation and Computing |
| 作者单位 | 1.Laboratory of Industrial Technology and Information (LITI), Faculty of Technology, University of Bejaia, Bejaia 06000, Algeria 2.Department of Automatics and Electromechanics, Faculty of Science and Technology, University of Ghardaia, Ghardaia 47000, Algeria |
| 推荐引用方式 GB/T 7714 | Nacer Hacene. Behavior-based Autonomous Navigation and Formation Control of Mobile Robots in Unknown Cluttered Dynamic Environments with Dynamic Target Tracking[J]. International Journal of Automation and Computing,2021,18(5):766-786. |
| APA | Nacer Hacene.(2021).Behavior-based Autonomous Navigation and Formation Control of Mobile Robots in Unknown Cluttered Dynamic Environments with Dynamic Target Tracking.International Journal of Automation and Computing,18(5),766-786. |
| MLA | Nacer Hacene."Behavior-based Autonomous Navigation and Formation Control of Mobile Robots in Unknown Cluttered Dynamic Environments with Dynamic Target Tracking".International Journal of Automation and Computing 18.5(2021):766-786. |
入库方式： OAI收割
来源：自动化研究所
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