A novel obstacle avoidance and navigation method of outdoor mobile robot

Author

Li, Yunchong ; He, Kezhong

Author_Institution

State Key Lab. of Intelligent Technol. & Syst., Tsinghua Univ., Beijing

fYear

2005

fDate

18-20 July 2005

Firstpage

653

Lastpage

656

Abstract

This paper presents a novel method for obstacle avoidance and navigation of outdoor mobile robot, in which, the 2-dimension obstacle information in the polar coordinate space of current view scene is transformed to the 1-dimension angle field. Repulsive forces produced by obstacles and attractive forces produced by the object location are estimated integratively to determine the pass function and the purpose angle. As thus, both the safety of the robot and the approach to the object location are considered. The method has been tested on our outdoor mobile robot THMR-V

Keywords

collision avoidance; mobile robots; motion control; navigation; 1D angle field; 2D obstacle information; THMR-V robot; angle potential field method; attractive force; current view scene; object location; obstacle avoidance; outdoor mobile robot navigation; pass function; polar coordinate space; purpose angle; repulsive force; Intelligent robots; Intelligent sensors; Intelligent systems; Laboratories; Laser radar; Mobile robots; Navigation; Robot kinematics; Robot sensing systems; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on

Conference_Location

Seattle, WA

Print_ISBN

0-7803-9178-0

Type

conf

DOI

10.1109/ICAR.2005.1507478

Filename

1507478