Title :
Navigation based on sonar sensing in a partially structured environment
Author :
Hwang, Kao-Shing ; Chiou, Jeng-Yih ; Ju, Mine-Yi ; Chu, Yuan-Sun
Author_Institution :
Dept. of Electr. Eng., Nat. Chung Cheng Univ., Ming-Hsiung, Taiwan
Abstract :
In this paper the attempt to apply the collision-trend index and the propagating interface model to finding a piecewise optimal path based on the available environmental information from the external sensor at a given time is made for an autonomous mobile robot. By converting the sensory information to an elliptical-based internal representation for path planning, the proposed method is capable of guiding a mobile robot to approach the destination without collision with obstacles.
Keywords :
collision avoidance; mobile robots; navigation; sensors; sonar; autonomous mobile robot; collision avoidance; collision-trend index; elliptical-based internal representation; navigation; obstacles; path planning; piecewise optimal path; sonar sensing; Computational modeling; Computer graphics; Computer interfaces; Ellipsoids; Level control; Mobile robots; Path planning; Sonar navigation; Trajectory; Velocity measurement;
Conference_Titel :
Neural Networks and Signal Processing, 2003. Proceedings of the 2003 International Conference on
Conference_Location :
Nanjing
Print_ISBN :
0-7803-7702-8
DOI :
10.1109/ICNNSP.2003.1279306
