Real Time Adaptive Obstacle Avoidance in Dynamic Environments with Different D-S

In this paper a real-time obstacle avoidance approach
for both autonomous and non-autonomous dynamical systems (DS) is
presented. In this approach the original dynamics of the controller
which allow us to determine safety margin can be modulated.
Different common types of DS increase the robot’s reactiveness in
the face of uncertainty in the localization of the obstacle especially
when robot moves very fast in changeable complex environments.
The method is validated by simulation and influence of different
autonomous and non-autonomous DS such as important
characteristics of limit cycles and unstable DS. Furthermore, the
position of different obstacles in complex environment is explained.
Finally, the verification of avoidance trajectories is described through
different parameters such as safety factor.

• Mohammad Javad Mollakazemi
• Farhad Asadi

• Limit cycles
• Nonlinear dynamical system
• Real time obstacle avoidance.

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[14] Farhad Asadi, Mohammadjavad Mollakazemi, “Investigation of
fluctuation locations and effect of data distribution in time series
dynamical regimes”.. Accepted and oral presentation in ICBCBBE
2014: XII International Conference on Bioinformatics, Computational
Biology and Biomedical Engineering, October, 27-28, 2014, Istanbul,
Turkey.
[15] Farhad Asadi, Mohammadjavad Mollakazemi, “The influence of
parameters of modeling and data distribution for optimal condition on
locally weighted projection regression method”.. Accepted and oral
presentation in ICMSE 2014: XII International Conference on
Mathematics and Statistical Engineering, October, 27-28, 2014, Istanbul,
Turkey.