TY - GEN
T1 - Characterizing the exact collision course in the plane for mobile robotics application
AU - Bendjilali, K.
AU - Belkhouche, F.
AU - Jin, T.
N1 - Copyright:
Copyright 2013 Elsevier B.V., All rights reserved.
PY - 2008
Y1 - 2008
N2 - In this paper, we discuss the exact collision course in a dynamic environment between a wheeled mobile robot and a moving object. The paths intersection conditions in the horizontal plane are deduced based on the geometry of the paths, and the collision course is deduced based on the relative kinematics model between the robot and the moving object. The exact conditions under which the robot and the moving object are in a collision course are derived and proven rigorously. The collision course condition is expressed as a function of the robot and the moving object orientation angles and linear velocities. The method can be used for collision detection in a dynamic environment, and therefore, it can be used for collision avoidance. Several simulation examples are used for an illustration.
AB - In this paper, we discuss the exact collision course in a dynamic environment between a wheeled mobile robot and a moving object. The paths intersection conditions in the horizontal plane are deduced based on the geometry of the paths, and the collision course is deduced based on the relative kinematics model between the robot and the moving object. The exact conditions under which the robot and the moving object are in a collision course are derived and proven rigorously. The collision course condition is expressed as a function of the robot and the moving object orientation angles and linear velocities. The method can be used for collision detection in a dynamic environment, and therefore, it can be used for collision avoidance. Several simulation examples are used for an illustration.
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U2 - 10.1007/978-1-4020-8737-0_15
DO - 10.1007/978-1-4020-8737-0_15
M3 - Conference contribution
AN - SCOPUS:84878555191
SN - 9781402087363
T3 - Novel Algorithms and Techniques in Telecommunications, Automation and Industrial Electronics
SP - 83
EP - 88
BT - Novel Algorithms and Techniques in Telecommunications, Automation and Industrial Electronics
T2 - 2007 Int. Conf. on Telecommunications and Networking, TeNe 2007, 2007 Int. Conf. on Industrial Electronics, Technology and Automation, IETA 2007, Part of the Int. Jt. Conf. on Computer, Information, and Systems Sciences, and Engineering, CISSE 2007
Y2 - 3 December 2007 through 12 December 2007
ER -