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.
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Bendjilali, K., Belkhouche, F., Jin, T. (2008). Characterizing the Exact Collision Course in the Plane for Mobile Robotics Application. In: Sobh, T., Elleithy, K., Mahmood, A., Karim, M.A. (eds) Novel Algorithms and Techniques In Telecommunications, Automation and Industrial Electronics. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-8737-0_15
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DOI: https://doi.org/10.1007/978-1-4020-8737-0_15
Publisher Name: Springer, Dordrecht
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