Sonar-based obstacle avoidance using region partition scheme

被引：9
|
作者：
Bui, T. T. Quyen [1 ]
Hong, Keum-Shik [1 ]
机构：
[1] Pusan Natl Univ, Sch Mech Engn, Pusan 609735, South Korea
来源：
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | 2010年 / 24卷 / 01期
关键词：
Mobile robot; Obstacle avoidance; Region partition; Sensor-based navigation; NAVIGATION; VEHICLE;
D O I：
10.1007/s12206-009-1204-8
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
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.
引用
收藏
页码：365 / 372
页数：8
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