Designing Behaviors of Autonomous Mobile Robots Based on Dynamical System Approach
Huidi Zhang, Shirong Liu · Huadong Li-Gong Daxue xuebao · 2008
A behavior design method for mobile robots in dynamical environment with moving obstacles is presented based on dynamical system approach.The velocity and heading of moving obstacles are considered in the proposed behavior dynamical models.Hence,the mobile robot has the ability to adjust(itself) linear velocity and angular velocity according to the movement of obstacles so that it can keep away from moving obstacles autonomously.A collision area described by collision time and collision angle is used as a restriction to the movement of mobile robot.Thus,meaningless obstacle avoidance behaviors can be(eliminated.) Simulation results demonstrate that the proposed design method can effectly improve the auto-(nomous) navigation capability and work efficiency of mobile robots in dynamical environment.