Object following and obstacle avoidance using a laser scanner in the outdoor mobile robot Auriga-α

Author

Martínez, J.L. ; Pozo-Ruz, A. ; Pedraza, S. ; Fernández, R.

Author_Institution

Dept. of Syst. Eng. & Autom., Malaga Univ., Spain

Volume

1

fYear

1998

fDate

13-17 Oct 1998

Firstpage

204

Abstract

A low computational cost method for terrestrial mobile robots that uses a laser scanner for following mobile objects and avoiding obstacles is presented. In particular, the technique has been successfully implemented in the outdoor mobile robot Auriga-α. The measurement data from the laser scanner and the vehicle position are used as input variables. The outputs are the new curvature and velocity of the robot in order to follow a mobile object, or track a previously recorded path and avoid any possible obstacle in its way

Keywords

collision avoidance; distance measurement; measurement by laser beam; mobile robots; optical scanners; position control; Auriga-α outdoor mobile robot; laser scanner; object following; obstacle avoidance; Computational efficiency; Extraterrestrial measurements; Input variables; Mobile computing; Mobile robots; Position measurement; Robotics and automation; Sonar navigation; Systems engineering and theory; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on

Conference_Location

Victoria, BC

Print_ISBN

0-7803-4465-0

Type

conf

DOI

10.1109/IROS.1998.724620

Filename

724620