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Erschienen in:
On Recognizing Transparent Objects in Domestic Environments Using Fusion of Multiple Sensor Modalities Kapitel lesen Erstes Kapitel lesen

2017 | OriginalPaper | Buchkapitel

Robust Collision Avoidance for Autonomous Mobile Robots in Unknown Environments

verfasst von : Muhannad Mujahed, Dirk Fischer, Bärbel Mertsching

Erschienen in: RoboCup 2016: Robot World Cup XX

Verlag: Springer International Publishing

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Abstract

This paper presents a new collision avoidance method for mobile robots operating in unknown cluttered environments. The proposed method computes the steering angle based on the location of all obstacles surrounding the robot, not just the closest one. Hence, our technique is capable of generating smooth robot trajectories, particularly for unstructured environments. Moreover, the stability of the robot’s motion is improved by providing a smoother bridge between avoiding obstacles and approaching the goal. Oscillations occurring in narrow corridors are reduced by considering the distribution of obstacles to both sides of the direction of motion. Simulation and experimental results are presented to demonstrate the performance of the proposed approach.

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Vorheriges Kapitel MRSLaserMap: Local Multiresolution Grids for Efficient 3D Laser Mapping and Localization
Nächstes Kapitel Robots as Individuals in the Humanoid League
Fußnoten
1
The direct path towards the goal is blocked if the line segment connecting the robot to it intersects an obstacle in the configuration space.
 
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Metadaten
Titel
Robust Collision Avoidance for Autonomous Mobile Robots in Unknown Environments
verfasst von
Muhannad Mujahed
Dirk Fischer
Bärbel Mertsching
Copyright-Jahr
2017
Buch
RoboCup 2016: Robot World Cup XX

Print ISBN: 978-3-319-68791-9

Electronic ISBN: 978-3-319-68792-6

Copyright-Jahr: 2017

DOI
https://doi.org/10.1007/978-3-319-68792-6_27