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
N1 - Publisher Copyright:
© 2021 IEEE.
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 -