Laserradar and sonar based world modeling and motion control for fast obstacle avoidance of the autonomous mobile robot MOBOT-IV

Author

Buchberger, Markus ; Jörg, Klaus-Werner ; Von Puttkamer, Ewald

Author_Institution

Dept. of Comput. Sci., Kaierslautern Univ., Germany

fYear

1993

fDate

2-6 May 1993

Firstpage

534

Abstract

The obstacle avoidance mechanism of MOBOT-IV, which serves as a test platform within the scope of a research project on autonomous mobile robots for indoor applications is described. The mechanism utilizes heterogeneous information obtained from a laser radar and a sonar sensor system in order to achieve a reliable and complete world model for real-time collision avoidance. This world model is transformed by a motion control component into a virtual position deviation to perform obstacle avoidance by using a track-control algorithm

Keywords

mobile robots; optical radar; position control; sonar; MOBOT-IV; autonomous mobile robot; fast obstacle avoidance; heterogeneous information; laser radar; motion control; real-time collision avoidance; sonar; test platform; track-control algorithm; virtual position deviation; world modeling; Collision avoidance; Laser modes; Laser radar; Mobile robots; Motion control; Radar tracking; Real time systems; Sensor systems; Sonar; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.292034

Filename

292034