tailieunhanh - Mobile Robots motion planning New Challenges_2

Tham khảo sách 'mobile robots motion planning new challenges_2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 15 An Immunological Approach to Mobile Robot Navigation Guan-Chun Luh and Wei-Wen Liu Department of Mechanical Engineering Tatung University Taiwan Republic of China 1. Introduction Autonomous mobile robots have a wide range of applications in industries hospitals offices and even the military due to their superior mobility. Some of their capabilities include automatic driving intelligent delivery agents assistance to the disabled exploration and map generation for environmental cleanup etc. In addition their capabilities also allow them to carry out specialized tasks in environments inaccessible or very hazardous for human beings such as nuclear plants and chemical handling. They are also useful in emergencies for fire extinguishing and rescue operations. Combined with manipulation abilities their capabilities and efficiency will increase and can be used for dangerous tasks such as security guard exposition processing as well as undersea underground and even space exploration. In order to adapt the robot s behavior to any complex varying and unknown environment without further human intervention intelligent mobile robots should be able to extract information from the environment use their built-in knowledge to perceive act and adapt within the environment. An autonomous robot must be able to maneuver effectively in its environment achieving its goals while avoiding collisions with static and moving obstacles. As a result motion planning for mobile robots plays an important role in robotics and has thus attracted the attention of researchers recently. The design goal for path planning is to enable a mobile robot to navigate safely and efficiently without collisions to a target position in an unknown and complex environment. The navigation strategies of mobile robots can be generally classified into two categories global path planning and local reactive navigation. The former is done offline and the robot has complete prior knowledge about the shape location .