Improvement of convergence to goal for wheeled mobile robot using parking motion

Author

An, Hiroshi ; Yoshino, Takamitsu ; Kashimoto, Daisuke ; Okubo, Minoru ; Sakai, Yoshiyuki ; Hamamoto, Tomosaburou

Author_Institution

Fac. of Eng., Osaka Electro-Commun. Univ., Japan

Volume

3

fYear

1999

fDate

1999

Firstpage

1693

Abstract

We have developed an online path planning algorithm that directs an autonomous mobile robot called a nonholonomic robot to a goal while avoiding obstacles in an uncertain world. The developed autonomous mobile robot runs on two wheels and is equipped with a visual sensor (CCD) camera having a restricted view field. In addition, this robot identifies its self-position with dead-reckoning by a wheel measuring a running distance. We propose an algorithm for the mobile robot that improves the convergence to a goal using a parking motion

Keywords

CCD image sensors; mobile robots; path planning; position measurement; CCD camera; autonomous mobile robot; dead-reckoning; nonholonomic robot; obstacles avoidance; online path planning algorithm; parking motion; visual sensor; wheeled mobile robot; Algorithm design and analysis; Charge coupled devices; Control engineering; Convergence; Feeds; Mobile robots; Path planning; Robot sensing systems; Topology; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on

Conference_Location

Kyongju

Print_ISBN

0-7803-5184-3

Type

conf

DOI

10.1109/IROS.1999.811722

Filename

811722