Title :
Avoidance of unknown obstacles using proximity fields
Author :
Bennamoun, M. ; Masoud, A.A. ; Ramsay, M.K. ; Bayoumi, M.M.
Author_Institution :
Dept. of Electr. Eng., Queen´´s Univ., Kingston, Ont., Canada
Abstract :
Presents a novel real-time obstacle avoidance approach based on proximity sensing. The scheme is designed for the two dimensional navigation of a point object in a totally unknown environment. Navigation is performed by utilizing two proximity sensors of different settings in conjunction with a simple memory less rule for motion control. Simulation results are given for different types of obstacles. The algorithm has also been implemented on an Adept-1 arm manipulator
Keywords :
computerised navigation; planning (artificial intelligence); position control; real-time systems; robots; 2D navigation; Adept-1 arm; manipulator; memory less rule; motion control; proximity fields; proximity sensing; robots; unknown obstacles avoidance; Collision avoidance; Computational efficiency; Convergence; Infrared sensors; Manipulators; Motion control; Navigation; Orbital robotics; Path planning; Robot sensing systems;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174507
