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Collision avoidance in a behavior-based mobile robot design

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2 Author(s)
Holenstein, A.A. ; Inst. of Autom. Control, Swiss Federal Inst. of Technol., Zurich, Switzerland ; Badreddin, E.

The collision avoidance behavior in a recursive nested control structure design is discussed. A formulation of a repulsion force based on measurements of ultrasonic range and tactile force and moment is given. The avoidance behavior adapts to the dynamics of the mobile robot. The realization details emphasize the importance of keeping the system bandwidth as large as possible to increase the reflexiveness of the avoidance behavior. Real-world experiments confirm the effectiveness and robustness of the proposed procedure

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991