Control architecture and obstacle avoidance for acquiring the realtimeness

ICCAS 2007 - International Conference on Control, Automation and Systems

Volumn , Issue , 2007, Pages 212-217

  Sohn, Won Jong ^a   Tamba, Tua Agustinus ^a   Hong, Keum Shik ^a   Kim, Rae Kwan ^a  

^a Pusan National University   (South Korea)

Author keywords

Behavior based; Control architecture; Mobile robot; Obstacle avoidance; Real time control

Indexed keywords

CONTROL THEORY; MOBILE ROBOTS; REAL TIME CONTROL; ROBOTICS; ROBOTS; TOKAMAK DEVICES;

BEHAVIOR BASED; CONTROL ARCHITECTURE; LASER RANGES; MOTION CONTROLLERS; MOVING OBSTACLES; OBSTACLE AVOIDANCE; OBSTACLE AVOIDANCE ALGORITHMS; TIME CHARACTERISTICS;

REAL TIME SYSTEMS;

EID: 48349124046     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICCAS.2007.4406910     Document Type: Conference Paper

References (9)

1. V. Lumelsky and T. Skewis, "Incorporating Range Sensing in the Robot Navigation Function," IEEE Transactions on Systems, Man, and Cybernetics, Vol. 20, No. 5, 1990.
2. J. Borenstein and Y Koren, "The Vector Field Histogram - Fast Obstacle Avoidance for Mobile Robots," IEEE Transactions on Robotics and Automation, Vol. 7, No. 3, 1991.
3. N. Y. Ko and R. Simmons, "The Lane-Curvature Method for Local Obstacle Avoidance," Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems Victoria, Canada, 1998.
4. A. Fujimori, P. N. Nikiforuk and M. M. Gupta, "Adaptive Navigation of Mobile Robots with Obstacle Avoidance," IEEE Transactions on Robotics and Automation, Vol. 13, No. 4, 1997.
5. D. Fox, S. Thrun and W Burgard, "The Dynamic Window Approach to Collision Avoidance," IEEE Robotics & Automation Magazine, 1997.
6. D. H. Kim and J. H. Kim, "A Real-Time Limit-Cycle Navigation Method for Fast Mobile Robots and Its Application to Robot Soccer," Robotics and Autonomous System, 2002.
7. C. S. Kim, K. S. Hong, and H. Y.-S. Han, "PC-based off-line programming in the shipbuilding industry: Open architecture," Advanced Robotics, Vol. 19, No. 4, pp. 435-458 ,2005.
8. L. Dozio, and P. Mantegazza, "Linux real time application interface (RTAI) in low cost high performance motion control," Proc. of the Motion Control 2003, Conference of ANIPLA, 2003.
9. J. Tan and N. Kyriakopoulos, "Implementation of a tracking Kalman filter on a digital signal processor," IEEE Trans. on Industrial Electronics, Vol. 35, No. 1, pp. 126-134, 1988.