A reactive collision avoidance approach for mobile robot in dynamic environments
This paper describes a novel reactive obstacle avoidance approach for mobile robot navigation in unknown and dynamic environment. This approach is developed based on the “situated-activity paradigm” and a “divide and conquer” strategy which steers the robot to move among unknown obstacles and toward...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Engineering and Technology Publishing
2013
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| Online Access: | http://psasir.upm.edu.my/id/eprint/28861/ http://psasir.upm.edu.my/id/eprint/28861/1/A%20reactive%20collision%20avoidance%20approach%20for%20mobile%20robot%20in%20dynamic%20environments.pdf |
| _version_ | 1848846233844580352 |
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| author | Tang, Sai Hong Ang, Chun Kit Nakhaeinia, Danial Karasfi, Babak Motlagh, Omid Reza Esmaeili |
| author_facet | Tang, Sai Hong Ang, Chun Kit Nakhaeinia, Danial Karasfi, Babak Motlagh, Omid Reza Esmaeili |
| author_sort | Tang, Sai Hong |
| building | UPM Institutional Repository |
| collection | Online Access |
| description | This paper describes a novel reactive obstacle avoidance approach for mobile robot navigation in unknown and dynamic environment. This approach is developed based on the “situated-activity paradigm” and a “divide and conquer” strategy which steers the robot to move among unknown obstacles and towards a target without collision. The proposed approach entitled the Virtual Semi-Circles(VSC). The VSC approach lies in integration of 4 modules: division, evaluation, decision and motion generation. The VSC proposes a comprehensive obstacle avoidance approach for robust and reliable mobile robot navigation in cluttered, dense and complex unknown environments. The simulation result shows the feasibility and effectiveness of the proposed approach. |
| first_indexed | 2025-11-15T08:59:28Z |
| format | Article |
| id | upm-28861 |
| institution | Universiti Putra Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T08:59:28Z |
| publishDate | 2013 |
| publisher | Engineering and Technology Publishing |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | upm-288612018-10-09T01:13:42Z http://psasir.upm.edu.my/id/eprint/28861/ A reactive collision avoidance approach for mobile robot in dynamic environments Tang, Sai Hong Ang, Chun Kit Nakhaeinia, Danial Karasfi, Babak Motlagh, Omid Reza Esmaeili This paper describes a novel reactive obstacle avoidance approach for mobile robot navigation in unknown and dynamic environment. This approach is developed based on the “situated-activity paradigm” and a “divide and conquer” strategy which steers the robot to move among unknown obstacles and towards a target without collision. The proposed approach entitled the Virtual Semi-Circles(VSC). The VSC approach lies in integration of 4 modules: division, evaluation, decision and motion generation. The VSC proposes a comprehensive obstacle avoidance approach for robust and reliable mobile robot navigation in cluttered, dense and complex unknown environments. The simulation result shows the feasibility and effectiveness of the proposed approach. Engineering and Technology Publishing 2013-03 Article PeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/28861/1/A%20reactive%20collision%20avoidance%20approach%20for%20mobile%20robot%20in%20dynamic%20environments.pdf Tang, Sai Hong and Ang, Chun Kit and Nakhaeinia, Danial and Karasfi, Babak and Motlagh, Omid Reza Esmaeili (2013) A reactive collision avoidance approach for mobile robot in dynamic environments. Journal of Automation and Control Engineering, 1 (1). pp. 16-20. ISSN 2301-3702 http://www.joace.org/index.php?m=content&c=index&a=show&catid=27&id=72 |
| spellingShingle | Tang, Sai Hong Ang, Chun Kit Nakhaeinia, Danial Karasfi, Babak Motlagh, Omid Reza Esmaeili A reactive collision avoidance approach for mobile robot in dynamic environments |
| title | A reactive collision avoidance approach for mobile robot in dynamic environments |
| title_full | A reactive collision avoidance approach for mobile robot in dynamic environments |
| title_fullStr | A reactive collision avoidance approach for mobile robot in dynamic environments |
| title_full_unstemmed | A reactive collision avoidance approach for mobile robot in dynamic environments |
| title_short | A reactive collision avoidance approach for mobile robot in dynamic environments |
| title_sort | reactive collision avoidance approach for mobile robot in dynamic environments |
| url | http://psasir.upm.edu.my/id/eprint/28861/ http://psasir.upm.edu.my/id/eprint/28861/ http://psasir.upm.edu.my/id/eprint/28861/1/A%20reactive%20collision%20avoidance%20approach%20for%20mobile%20robot%20in%20dynamic%20environments.pdf |