Sonar-based obstacle avoidance using region partition scheme |
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Authors: | T T Quyen Bui Keum-Shik Hong |
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Affiliation: | 1.School of Mechanical Engineering,Pusan National University,Busan,Korea |
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Abstract: | This paper addresses an obstacle avoidance problem for a mobile robot in indoor environment. The collision avoidance algorithm
utilizes a region partition scheme to analyze the three forward sensory regions of the robot, then to calculate the minimum
distances from the center of mass of the robot to the obstacles, respectively, and ultimately to find a navigable region.
The supervisor inside the controller receives a series of obstacle avoidance behaviors and makes a decision that allows the
robot to successfully navigate in a cluttered environment. In addition, experimental results to illustrate the proposed obstacle
avoidance algorithm for the mobile robot in navigation are also presented. |
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Keywords: | |
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