DocumentCode
2374495
Title
Obstacle avoidance with perturbation/correlation method
Author
Chung, Byunghoon ; Knuepfer, Peter ; Lee, Sooyong
Author_Institution
Dept. of Mech. Eng., Texas A&M Univ., College Station, TX, USA
Volume
3
fYear
2002
fDate
2002
Firstpage
2425
Abstract
We propose a novel technique for acquiring effective information for obstacle avoidance in mobile robot navigation. Instead of simply receiving data at a single point, we actively give perturbations to the system and measure the response from the system. Correlating the input and the output, we can formulate the correlation function and useful information to guide the mobile robot such as gradient can be obtained from this function. This algorithm is applied to the obstacle avoidance in mobile robot navigation and the experimental results are provided.
Keywords
collision avoidance; mobile robots; motion control; navigation; gradient information; mobile robot; mobile robot navigation; obstacle avoidance; perturbations; Cameras; Correlation; Infrared sensors; Legged locomotion; Mechanical engineering; Mobile robots; Navigation; Path planning; Performance analysis; Robot vision systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN
0-7803-7398-7
Type
conf
DOI
10.1109/IRDS.2002.1041631
Filename
1041631
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