Mobile robot navigation method for environment with dynamical obstacles

Author

Adamiv, Oleh ; Koval, Vasyl ; Kapura, Viktor ; Dorosh, Vitaliy ; Sapozhnyk, Grygoriy

Author_Institution

Ternopil Nat. Economic Univ., Ternopil, Ukraine

fYear

2009

fDate

21-23 Sept. 2009

Firstpage

515

Lastpage

518

Abstract

The analysis of global and local navigation methods for an autonomous mobile robot allowed to select the main lacks of existent methods of navigation. The improved local navigation method based on the use of potential fields for movement taking into account the gradient of direction to the goal is proposed. Also the round of blocking obstacles is foreseen in a method. That allows to the mobile robot to go out from local minimums (deadlocks) with the control of returning on the previous trajectory of movement. The imitation design and research of the proposed method is conducted on the real base of the mobile robot Amigo.

Keywords

collision avoidance; mobile robots; position control; Amigo; autonomous mobile robot; dynamical obstacle environment; mobile robot navigation method; trajectory control; Conferences; Data acquisition; Environmental economics; Intelligent robots; Mobile robots; Navigation; Robot control; Robot sensing systems; System recovery; Trajectory; autonomous mobile robot control; global navigation method; gradient search method; local navigation method;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, 2009. IDAACS 2009. IEEE International Workshop on

Conference_Location

Rende

Print_ISBN

978-1-4244-4901-9

Electronic_ISBN

978-1-4244-4882-1

Type

conf

DOI

10.1109/IDAACS.2009.5342926

Filename

5342926