Characterizing the exact collision course in the plane for mobile robotics application

K. Bendjilali, F. Belkhouche, T. Jin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationNovel Algorithms and Techniques in Telecommunications, Automation and Industrial Electronics
Pages83-88
Number of pages6
DOIs
StatePublished - 2008
Event2007 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 -
Duration: Dec 3 2007Dec 12 2007

Publication series

NameNovel Algorithms and Techniques in Telecommunications, Automation and Industrial Electronics

Other

Other2007 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
Period12/3/0712/12/07

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Modeling and Simulation
  • Electrical and Electronic Engineering

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