| Issue |
E3S Web of Conf.
Volume 389, 2023
Ural Environmental Science Forum “Sustainable Development of Industrial Region” (UESF-2023)
|
|
|---|---|---|
| Article Number | 07003 | |
| Number of page(s) | 10 | |
| Section | IT in Environmental Science | |
| DOI | https://doi.org/10.1051/e3sconf/202338907003 | |
| Published online | 31 May 2023 | |
Movement strategies selection of a mobile robot to avoid obstacles
Don State Technical University, sq. Gagarina, 1, 344002, Rostov-on-Don, Russia
* Corresponding author: alaqsabah@yahoo.com
The movement of a mobile robot in a non-deterministic environment is accompanied by maneuvering due to the need to avoid a collision with a fixed or moving obstacle. Under certain conditions, several obstacles, including moving ones, may appear in the near zone of the robot. In this case, trajectory-planning algorithms based on a “static” approach to the position of obstacles will not be effective; their application may lead to collisions. Finding the path of movement in conditions of dynamic obstacles is an urgent task that researchers are trying to solve using various methods. The article proposes a method for planning the actions and movements of a mobile robot in non-deterministic conditions, in the presence of fixed and moving obstacles. The processes of planning the trajectories of a mobile robot in the presence of obstacles in the near zone are considered. Methods and algorithms for making decisions on avoiding obstacles based on the estimated collision probabilities in the forecast interval are proposed.
Key words: mobile robot / robot trajectory planning / robot control / avoidance a group of obstacles
© The Authors, published by EDP Sciences, 2023
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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