2002 · 39 citations · 6 references
Robotic SystemsEngineeringField RoboticsAutonomous Vehicle NavigationReal-time Collision AvoidanceFast Obstacle AvoidanceTrajectory PlanningWorld ModelingSystems EngineeringDifferential Wheeled RobotKinematicsSonar Signal ProcessingHealth SciencesAutomatic NavigationPath PlanningRobot Motion PlanningUnderwater RobotAutonomous NavigationRobot NavigationObstacle Avoidance MechanismMotion ControlRobot ControlUnderwater VehicleAerospace EngineeringPlanningRoboticsObstacle Avoidance
The obstacle avoidance mechanism of MOBOT-IV, which serves as a test platform within the scope of a research project on autonomous mobile robots for indoor applications is described. The mechanism utilizes heterogeneous information obtained from a laser radar and a sonar sensor system in order to achieve a reliable and complete world model for real-time collision avoidance. This world model is transformed by a motion control component into a virtual position deviation to perform obstacle avoidance by using a track-control algorithm.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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