Laser Sensor Based Dynamic Fitting Strategy for Obstacle Avoidance Control and Simulation

摘要

Considering motion planning problem of robotic systems in uncertain dynamic environments,a collision-free planning scheme was proposed.Based on least square method,the edge frame of a dynamic obstacle was fitted by employing data sampled from laser sensor.After multi-step estimations of center position and size,the relative velocity and direction of a dynamic obstacle were obtained.An optimal direction of a robot was determined by applying the relationship among the robot,the destination position and obstacles,which made the robot operate well.Moreover,a dynamic formation control strategy for multiple robots was provided.Finally,The proposed scheme was verified by the simulations.