This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers detection (IPaBD), is proposed to create a 2D global map from the 3D images. This map is basic to design the trajectory. A tracking controller is developed to control the robot to follow the trajectory. The obstacle avoidance is addressed with the use of sonar sensors. An improved vector field histogram (Improved-VFH) algorithm is presented with improvements to overcome some limitations of the original VFH. Experiments have been conducted and the result is encouraged.
@article{arxiv.1611.09436,
title = {Proposal of algorithms for navigation and obstacles avoidance of autonomous mobile robot},
author = {T. T. Hoang and D. T. Hiep and P. M. Duong and N. T. T. Van and B. G. Duong and T. Q. Vinh},
journal= {arXiv preprint arXiv:1611.09436},
year = {2016}
}
Comments
In 2013 8th IEEE Conference on Industrial Electronics and Applications (ICIEA)