Trajectory planning to escape an unexpected obstacle for mobile robots

机译：轨迹规划以逃避移动机器人意外障碍

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摘要

A trajectory planning to escape an unexpected obstacle appeared on the way of a mobile robot is discussed. The trajectory is based on third order spline function and the trajectory generation takes into account the robot's velocity and sensor ranges.

机译：讨论了逃避意外障碍的轨迹，出现在移动机器人的方式上。轨迹基于三阶样条函数，轨迹代来考虑机器人的速度和传感器范围。

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《日本ロボット学会学術講演会》|2000年||共2页
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Takayuki Takahashi; Takahiro Yokota; Wang Zhi-Dong; Eiji Nakano;
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中图分类 TP241-53;
关键词
Trajectory planning; Mobile robot; Spline function; Sensor range;

机译：轨迹规划;移动机器人;样条功能;传感器范围;

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专利

1. Trajectory reconfiguration for time delay reduction in the case of unexpected obstacles: application to 4-mecanum wheeled mobile robots (4-MWMR) for industrial purposes [J] . Samia Mellah, Guillaume Graton, El-Mostafa El Adel, IFAC PapersOnLine . 2020,第2期

机译：在意外障碍的情况下减少时间延迟的轨迹重新配置：适用于工业目的的4-Mecanum轮式移动机器人（4-MWMR）
2. Motion Control and Trajectory Planning for Obstacle Avoidance of the Mobile Parallel Robot Driven by Three Tracked Vehicles [J] . Shentu Shuzhan, Xie Fugui, Liu Xin-Jun, Robotica . 2021,第6期

机译：三次跟踪车辆驱动的移动并行机器人的障碍物避免运动控制和轨迹规划
3. A method for planning the trajectory of a mobile robot in an unknown environment with obstacles [J] . Fariza Tebueva, Andrey Pavlov, Dina Satybaltina E3S Web of Conferences . 2021,第a期

机译：一种规划移动机器人在未知环境中的移动机器人轨迹的方法
4. Trajectory planning to escape an unexpected obstacle for mobile robots [C] . Takayuki Takahashi, Takahiro Yokota, Wang Zhi-Dong, 日本ロボット学会学術講演会 . 2000

机译：轨迹规划以逃避移动机器人意外障碍
5. Vision-based trajectory tracking algorithm with obstacle avoidance for a wheeled mobile robot. [D] . Yang, Xiusong. 2005

机译：基于视觉的轮式移动机器人避障轨迹跟踪算法。
6. Optimal Trajectory Planning for Wheeled Mobile Robots under Localization Uncertainty and Energy Efficiency Constraints [O] . Xiaolong Zhang, Yu Huang, Youmin Rong, 2021

机译：在本地化不确定度和能效约束下的轮式移动机器人的最佳轨迹规划
7. Development of a Bio-inspired Vision System for Mobile Micro-robots:In this paper, we present a new bio-inspired vision system for mobile micro-robots. The processing method takes inspiration from vision of locusts in detecting the fast approaching objects. Research suggested that locusts use wide-field visual neuron called the lobula giant movement detector to respond to imminent collisions. We employed the locusts' vision mechanism to motion control of a mobile robot. The selected image processing method is implemented on a developed extension module using a low-cost and fast ARM processor. The vision module is placed on top of a micro-robot to control its trajectory and to avoid obstacles. The observed results from several performed experiments demonstrated that the developed extension module and the inspired vision system are feasible to employ as a vision module for obstacle avoidance and motion control. [O] . Hu, Cheng, Arvin, Farshad, Yue, Shigang 2014

机译：开发用于移动微型机器人的生物启发视觉系统：在本文中，我们提出了一种用于移动微型机器人的新型生物启发视觉系统。该处理方法从检测快速接近物体的蝗虫视觉中获取灵感。研究表明，蝗虫使用称为小叶巨型运动探测器的宽视野神经元来应对即将发生的碰撞。我们采用蝗虫的视觉机制来控制移动机器人。所选择的图像处理方法使用低成本且快速的aRm处理器在开发的扩展模块上实现。视觉模块放置在微型机器人的顶部以控制其轨迹并避开障碍物。几次进行的实验观察到的结果表明，开发的扩展模块和灵感视觉系统可用作避障和运动控制的视觉模块。
8. Path-Planning in a Known Environment with Unexpected Obstacles: Potential Application to an Automatic Alarm Testing Robot [R] . Sreenath, N. 1988

机译：具有意外障碍的已知环境中的路径规划：自动报警测试机器人的潜在应用

Trajectory planning to escape an unexpected obstacle for mobile robots

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