A Method for Robustness Improvement of Robot Obstacle Avoidance Algorithm

机译：机器人避障算法的鲁棒性改进方法

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The robustness of obstacle avoidance algorithm is one of the important factors to successful applications of mobile robot systems. The sonar ring is used widely for autonomous mobile robot obstacle avoidance. This paper first analyzes the robustness of th

机译：避障算法的鲁棒性是移动机器人系统成功应用的重要因素之一。声纳环广泛用于自动移动机器人避障。本文首先分析了th的鲁棒性

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来源
《Robotics and Biomimetics, 2006 IEEE International Conference on; Kunming,China》||P.115-119|共5页
会议地点 KunmingChina
作者
Guanghua Zong; Luhua Deng; Wei Wang;
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原文格式 PDF
正文语种 eng
中图分类工业技术;
关键词
collision avoidance; navigation; robot kinematics; Kalman filter; autonomous mobile robot; kinematics model; obstacle avoidance; obstacle representation; sonar ring; Kalman filter; Obstacle avoidance algorithm; Robot; Robustness; Sonar;

机译：避撞;导航;机器人运动学;卡尔曼滤波;自主移动机器人;运动学模型;避障;障碍物表示;声纳环;卡尔曼滤波;避障算法;机器人;稳健性;声纳;

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1. Obstacles Avoidance Algorithm for Mobile Robots, Using the Potential Fields Method [J] . Vesna Antoska-Knights, Zoran Gacovski, Stojce Deskovski Universal Journal of Electrical and Electronic Engineering . 2017,第4期

机译：使用势场法的移动机器人避障算法
2. Two-dimensional obstacle avoidance control algorithm for snake-like robot in water based on immersed boundary-lattice Boltzmann method and improved artificial potential field method [J] . Transactions of the Institute of Measurement and Control . 2020,第10期

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3. OPTIMIZING THE OBSTACLE AVOIDANCE TRAJECTORY AND POSITIONING ERROR OF ROBOTIC MANIPULATORS USING MULTIGROUP ANT COLONY AND QUANTUM-BEHAVED PARTICLE SWARM OPTIMIZATION ALGORITHMS [J] . YAN-TING CHEN, WEN-JONG CHEN International Journal of Innovative Computing Information and Control . 2021,第2期

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4. A Method for Robustness Improvement of Robot Obstacle Avoidance Algorithm [C] . Zong, Guanghua, Deng, . 2006

机译：机器人避障算法的鲁棒性改进方法
5. A hardware implementation of the level set method for robotic path finding with multiple obstacle avoidance. [D] . Nguyen, James Van. 2009

机译：具有多避障功能的机器人路径查找级别设置方法的硬件实现。
6. A Method on Dynamic Path Planning for Robotic Manipulator Autonomous Obstacle Avoidance Based on an Improved RRT Algorithm [O] . Kun Wei, Bingyin Ren 2018

机译：基于改进RRT算法的机器人操纵器自主避障动态路径规划方法
7. Development of a Bio-inspired Vision System for Mobile Micro-robots:In this paper, we present a new bio-inspired vision system for mobile micro-robots. The processing method takes inspiration from vision of locusts in detecting the fast approaching objects. Research suggested that locusts use wide-field visual neuron called the lobula giant movement detector to respond to imminent collisions. We employed the locusts' vision mechanism to motion control of a mobile robot. The selected image processing method is implemented on a developed extension module using a low-cost and fast ARM processor. The vision module is placed on top of a micro-robot to control its trajectory and to avoid obstacles. The observed results from several performed experiments demonstrated that the developed extension module and the inspired vision system are feasible to employ as a vision module for obstacle avoidance and motion control. [O] . Hu, Cheng, Arvin, Farshad, Yue, Shigang 2014

机译：开发用于移动微型机器人的生物启发视觉系统：在本文中，我们提出了一种用于移动微型机器人的新型生物启发视觉系统。该处理方法从检测快速接近物体的蝗虫视觉中获取灵感。研究表明，蝗虫使用称为小叶巨型运动探测器的宽视野神经元来应对即将发生的碰撞。我们采用蝗虫的视觉机制来控制移动机器人。所选择的图像处理方法使用低成本且快速的aRm处理器在开发的扩展模块上实现。视觉模块放置在微型机器人的顶部以控制其轨迹并避开障碍物。几次进行的实验观察到的结果表明，开发的扩展模块和灵感视觉系统可用作避障和运动控制的视觉模块。
8. Flight data acquisition methodology for validation of passive ranging algorithms for obstacle avoidance [R] . Smith, Phillip N. 1990

机译：用于验证用于避障的被动测距算法的飞行数据采集方法

A Method for Robustness Improvement of Robot Obstacle Avoidance Algorithm

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