Title :
Obstacle avoidance of a mobile robot using a hierarchical control
Author :
Abdelmoula, Chokri ; Masmoudi, Mohamed ; Chaari, Fakher
Author_Institution :
EMC Res. Group, Nat. Eng. Sch. of Sfax, Sfax
Abstract :
A new approach of obstacle avoidance of a mobile robot (autonomous vehicles) using a hierarchical control for navigation is proposed. It is based on the identification of the kinematics model of the mobile robot to determine the procedure of navigation in an unknown environment. Then, the information about the global goal and the long-range sensory data, with regards to the navigation environment, are used to guide the mobile robot to reach its sub-goal while avoiding collisions. The implementation results of this concept are presented confirming the effectiveness of the proposed control approach.
Keywords :
collision avoidance; hierarchical systems; mobile robots; navigation; robot kinematics; autonomous vehicles; collision avoidance; hierarchical control; kinematics model; long-range sensory data; mobile robot; navigation; obstacle avoidance; Control systems; Infrared sensors; Intelligent robots; Kinematics; Mobile robots; Motion planning; Navigation; Robot control; Target tracking; Vehicle dynamics; Autonomous navigation; Hierarchical control; Mobile robot; Unknown Environment;
Conference_Titel :
Design and Technology of Integrated Systems in Nanoscale Era, 2008. DTIS 2008. 3rd International Conference on
Conference_Location :
Tozeur
Print_ISBN :
978-1-4244-1576-2
Electronic_ISBN :
978-1-4244-1577-9
DOI :
10.1109/DTIS.2008.4540257
