Local obstacle avoidance for synchro-drive mobile robot

Author

Jung, Suk Hyung ; Kwon, O. Sang ; Kim, Byung Soo ; Hong, Seung Hong

Author_Institution

Dept. of Electron. Eng., Inha Univ., Inchon, South Korea

Volume

2

fYear

1999

fDate

36495

Firstpage

1524

Abstract

The authors consider the problem faced by an indoor mobile robot that has to reach a given target by traveling through an unmapped region in a plane which contains obstacles. The robot must avoid static and dynamic obstacles of which the robot has no prior knowledge about the positions or size of them. The robot can acquires knowledge of obstacles only when obstacles are encountered and detected by ultrasonic sensors. Also, an indoor robot needs to be equipped with fast detection of obstacles and selection of steering commands algorithms to maximize the progress towards the goal location. The dynamics of the robot must be considered to make the generated commands more reliable

Keywords

collision avoidance; control system synthesis; mobile robots; ultrasonic transducers; dynamic obstacles; fast detection; knowledge acquisition; local obstacle avoidance; static obstacles; steering commands algorithms selection; synchro-drive indoor mobile robot; ultrasonic sensors; Acceleration; Equations; Indoor environments; Mobile robots; Orbital robotics; Robot sensing systems; Robotics and automation; TV; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

TENCON 99. Proceedings of the IEEE Region 10 Conference

Conference_Location

Cheju Island

Print_ISBN

0-7803-5739-6

Type

conf

DOI

10.1109/TENCON.1999.818725

Filename

818725