A Sensor Based Navigation Algorithm for a Mobile Robot using the DVFF Approach

被引：0
|
作者：
Djekoune, A. Oualid [1 ]
Achour, Karim [1 ]
Toumi, Redouane [2 ]
机构：
[1] Adv Technol Dev Ctr, Algiers, Algeria
[2] USTHB, Fac Engn, Dept Elect, Algiers, Algeria
来源：
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2009年 / 6卷 / 02期
关键词：
Autonomous mobile robot; global navigation; VFF algorithm; obstacle avoidance; D* algorithm; OBSTACLE AVOIDANCE;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Often autonomous mobile robots operate in environment for which prior maps are incomplete or inaccurate. They require the safe execution for a collision free motion to a goal position. This paper addresses a complete navigation method for a mobile robot that moves in unknown environment. Thus, a novel method called DVFF combining the Virtual Force Field (VFF) obstacle avoidance approach and global path planning based on D* algorithm is proposed. While D* generates global path information towards a goal position, the VFF local controller generates the admissible trajectories that ensure safe robot motion. Results and analysis from a battery of experiments with this new method implemented on a ATRV2 mobile robot are shown.
引用
收藏
页码：97 / 108
页数：12
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