Dynamic Obstacle Avoidance Based on A Dynamic Space-Time Grid Map for Mobile Robots

Jyun Hong He; Yen Lin Chen; Hsin Han Chiang; Hsiao Chi Li

doi:10.1109/ICCE50685.2021.9427628

Dynamic Obstacle Avoidance Based on A Dynamic Space-Time Grid Map for Mobile Robots

Jyun Hong He, Yen Lin Chen, Hsin Han Chiang, Hsiao Chi Li

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

In this study, a dynamic space-time grid map is proposed to dynamic obstacles avoidance for the mobile robot in the navigation environment. In the constructed dynamic space-time grid map, the detected objects will be recognized as the static and the dynamic obstacles. The trajectory of the dynamic obstacles can be predicted in the dynamic spatio-temporal map, and then, the possible collision for the mobile robot can be prevented if there is any target dynamic obstacle that will cross the moving path of the robot. The experimental results demonstrate the feasible behavior of obstacle avoidance for the mobile robot.

Original language	English
Title of host publication	2021 IEEE International Conference on Consumer Electronics, ICCE 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728197661
DOIs	https://doi.org/10.1109/ICCE50685.2021.9427628
Publication status	Published - 2021 Jan 10
Event	2021 IEEE International Conference on Consumer Electronics, ICCE 2021 - Las Vegas, United States Duration: 2021 Jan 10 → 2021 Jan 12

Publication series

Name	Digest of Technical Papers - IEEE International Conference on Consumer Electronics
Volume	2021-January
ISSN (Print)	0747-668X

Conference

Conference	2021 IEEE International Conference on Consumer Electronics, ICCE 2021
Country/Territory	United States
City	Las Vegas
Period	2021/01/10 → 2021/01/12

Keywords

Mobile robot navigation
dynamic space-time grid map
moving obstacle detection
real-time path planning

ASJC Scopus subject areas

Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/ICCE50685.2021.9427628

Cite this

He, J. H., Chen, Y. L., Chiang, H. H., & Li, H. C. (2021). Dynamic Obstacle Avoidance Based on A Dynamic Space-Time Grid Map for Mobile Robots. In 2021 IEEE International Conference on Consumer Electronics, ICCE 2021 Article 9427628 (Digest of Technical Papers - IEEE International Conference on Consumer Electronics; Vol. 2021-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCE50685.2021.9427628

Dynamic Obstacle Avoidance Based on A Dynamic Space-Time Grid Map for Mobile Robots. / He, Jyun Hong; Chen, Yen Lin; Chiang, Hsin Han et al.
2021 IEEE International Conference on Consumer Electronics, ICCE 2021. Institute of Electrical and Electronics Engineers Inc., 2021. 9427628 (Digest of Technical Papers - IEEE International Conference on Consumer Electronics; Vol. 2021-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

He, JH, Chen, YL, Chiang, HH & Li, HC 2021, Dynamic Obstacle Avoidance Based on A Dynamic Space-Time Grid Map for Mobile Robots. in 2021 IEEE International Conference on Consumer Electronics, ICCE 2021., 9427628, Digest of Technical Papers - IEEE International Conference on Consumer Electronics, vol. 2021-January, Institute of Electrical and Electronics Engineers Inc., 2021 IEEE International Conference on Consumer Electronics, ICCE 2021, Las Vegas, United States, 2021/01/10. https://doi.org/10.1109/ICCE50685.2021.9427628

He JH, Chen YL, Chiang HH, Li HC. Dynamic Obstacle Avoidance Based on A Dynamic Space-Time Grid Map for Mobile Robots. In 2021 IEEE International Conference on Consumer Electronics, ICCE 2021. Institute of Electrical and Electronics Engineers Inc. 2021. 9427628. (Digest of Technical Papers - IEEE International Conference on Consumer Electronics). doi: 10.1109/ICCE50685.2021.9427628

@inproceedings{53613f74f55e4061b03ba03f9c5202ed,

title = "Dynamic Obstacle Avoidance Based on A Dynamic Space-Time Grid Map for Mobile Robots",

abstract = "In this study, a dynamic space-time grid map is proposed to dynamic obstacles avoidance for the mobile robot in the navigation environment. In the constructed dynamic space-time grid map, the detected objects will be recognized as the static and the dynamic obstacles. The trajectory of the dynamic obstacles can be predicted in the dynamic spatio-temporal map, and then, the possible collision for the mobile robot can be prevented if there is any target dynamic obstacle that will cross the moving path of the robot. The experimental results demonstrate the feasible behavior of obstacle avoidance for the mobile robot.",

keywords = "Mobile robot navigation, dynamic space-time grid map, moving obstacle detection, real-time path planning",

author = "He, {Jyun Hong} and Chen, {Yen Lin} and Chiang, {Hsin Han} and Li, {Hsiao Chi}",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 IEEE International Conference on Consumer Electronics, ICCE 2021 ; Conference date: 10-01-2021 Through 12-01-2021",

year = "2021",

month = jan,

day = "10",

doi = "10.1109/ICCE50685.2021.9427628",

language = "English",

series = "Digest of Technical Papers - IEEE International Conference on Consumer Electronics",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2021 IEEE International Conference on Consumer Electronics, ICCE 2021",

}

TY - GEN

T1 - Dynamic Obstacle Avoidance Based on A Dynamic Space-Time Grid Map for Mobile Robots

AU - He, Jyun Hong

AU - Chen, Yen Lin

AU - Chiang, Hsin Han

AU - Li, Hsiao Chi

PY - 2021/1/10

Y1 - 2021/1/10

N2 - In this study, a dynamic space-time grid map is proposed to dynamic obstacles avoidance for the mobile robot in the navigation environment. In the constructed dynamic space-time grid map, the detected objects will be recognized as the static and the dynamic obstacles. The trajectory of the dynamic obstacles can be predicted in the dynamic spatio-temporal map, and then, the possible collision for the mobile robot can be prevented if there is any target dynamic obstacle that will cross the moving path of the robot. The experimental results demonstrate the feasible behavior of obstacle avoidance for the mobile robot.

AB - In this study, a dynamic space-time grid map is proposed to dynamic obstacles avoidance for the mobile robot in the navigation environment. In the constructed dynamic space-time grid map, the detected objects will be recognized as the static and the dynamic obstacles. The trajectory of the dynamic obstacles can be predicted in the dynamic spatio-temporal map, and then, the possible collision for the mobile robot can be prevented if there is any target dynamic obstacle that will cross the moving path of the robot. The experimental results demonstrate the feasible behavior of obstacle avoidance for the mobile robot.

KW - Mobile robot navigation

KW - dynamic space-time grid map

KW - moving obstacle detection

KW - real-time path planning

UR - http://www.scopus.com/inward/record.url?scp=85105992964&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85105992964&partnerID=8YFLogxK

U2 - 10.1109/ICCE50685.2021.9427628

DO - 10.1109/ICCE50685.2021.9427628

M3 - Conference contribution

AN - SCOPUS:85105992964

T3 - Digest of Technical Papers - IEEE International Conference on Consumer Electronics

BT - 2021 IEEE International Conference on Consumer Electronics, ICCE 2021

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2021 IEEE International Conference on Consumer Electronics, ICCE 2021

Y2 - 10 January 2021 through 12 January 2021

ER -

Dynamic Obstacle Avoidance Based on A Dynamic Space-Time Grid Map for Mobile Robots

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this