Avoiding Static and Dynamic Objects in Navigation

Real-time collision free path planning involves avoidance of static as well as dynamic objects in unknown environment. Strategies suitable for stationary navigation cannot be suitable for the dynamic environment. Behavior-based control combined with fuzzy control to avoid dynamic and static obstacle is described in this paper. Behavior-based control helps the robot get over complex static environment or avoid dynamic objects according to different collision situation. Double-layered fuzzy logic control helps figure out velocity and steering angle of the robot based on some uncertain information. The method has been tested effectively through simulation by a mobile robot navigating amidst multiple static and dynamic environments

Authors

• Han Li
• Yili Fu
• He Xu
• Yulin Ma

Keywords

• Navigation
• Fuzzy logic
• Robot sensing systems
• Path planning
• Orbital robotics
• Robotics and automation
• Control systems
• Fuzzy control
• Velocity control
• Mobile robots
• Dynamic Objects
• Complex Environment
• Dynamic Environment
• Mobile Robot
• Unknown Environment
• Static Environment
• Steering Angle
• Static Obstacles
• Dynamic Obstacles
• Collision-free Path
• Estimation Method
• Fuzzy System
• Emergent Behavior
• Obstacle Avoidance
• Fuzzy Rules
• Angular Distance
• Velocity Of The Robot
• Collision Time
• Artificial Potential Field
• Multiple Obstacles
• Obstacle avoiding
• Fuzzy logic control