A strategy for safe 3D navigation of non-holonomic robots among moving obstacles

被引：59
|
作者：
Wang, Chao [1 ]
Savkin, Andrey V. [1 ]
Garratt, Matthew [2 ]
机构：
[1] Univ New South Wales, Sch Elect Engn & Telecommun, Sydney, NSW 2052, Australia
[2] Univ New South Wales, Sch Engn & Informat Technol, Canberra, ACT 2600, Australia
来源：
ROBOTICA | 2018年 / 36卷 / 02期
基金：
澳大利亚研究理事会;
关键词：
Guidance; 3D navigation; Moving obstacles; Sense-and-avoid; Collision avoidance; Flying robots; Underwater robots; Obstacle avoidance; Non-holonomic robots; Navigation in dynamic unknown environments; COLLISION-FREE NAVIGATION; DYNAMIC ENVIRONMENTS; MOBILE ROBOTS; AVOIDANCE; VEHICLES; SEEKING;
D O I：
10.1017/S026357471700039X
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A non-holonomic robot with a bounded control input travels in a dynamic unknown 3D environment with moving obstacles. We propose a 3D navigation strategy to reach a given final destination point while avoiding collisions with obstacles. A formal analysis of the proposed 3D robot navigation algorithm is given. Computer simulation results and experiments with a real flying autonomous vehicle confirm the applicability and performance of the proposed guidance approach.
引用
收藏
页码：275 / 297
页数：23
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