Title :
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
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;
Conference_Titel :
Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-9178-0
DOI :
10.1109/ICAR.2005.1507478
