شماره ركورد كنفرانس :
3540
عنوان مقاله :
Modified TangentBug Navigation Algorithm with Application to Car-like Robots
Author/Authors :
Navid Hoseini Izadi Artificail Intelligence laboratory - Electrical and Computer Engineering Department, Isfahan , Maziar Palhang Artificail Intelligence laboratory - Electrical and Computer Engineering Department, Isfahan
كليدواژه :
obstacle avoidance , unknown environment , autonomous navigation , Sensor-based
عنوان كنفرانس :
همايش بين المللي هوش مصنوعي و پردازش سيگنال
چكيده لاتين :
Autonomous navigation in unknown environments is a challenging
task. Several sensor-based methods like the Bug algorithms have been proposed
to tackle the problem. But most Bug-type algorithms neglect practical implementation
issues like robot dimensions and maneuver limitations. This paper
presents a modified version of TangentBug algorithm especially designed for
car-like robots. The method proposes a revised heuristic distance for more stable
robot motion-to-goal behaviour. Also the boundary following is modified to
suit the limited steering of car-like robots. Simulation results show that the
modified TangentBug is applicable to car-like robots with acceptable performance.
