Reactive behaviors of fast mobile robots
R. Zapata, Pascal Lepinay, P. Thompson · Journal of Robotic Systems · 1994
Abstract This article addresses the modeling of the reactive behaviors of a mobile robot moving in unstructured and dynamic environments. The main focus is on the software structure devoted to obstacle avoidance when geometric models do not exist and when obstacles can be dynamic. The first part concerns the model of the robot/environment interaction. This model is based on the definition of theinteraction component(deformable virtual zone) of aninternal stateof the robot and leads to avoidance‐oriented control laws. The second part describes the derivation of the state equation and one of its implementations on a fast outdoor mobile robot. © 1994 John Wiley & Sons, Inc.