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Authors: Dan-Sorin Necsulescu 1 ; Jin Bai 1 and Jurek Sasiadek 2

Affiliations: 1 University of Ottawa, Canada ; 2 Carleton University, Canada

ISBN: 978-989-758-122-9

Keyword(s): Autonomous Robot, Particle Filter, Obstacle Avoidance, FastSLAM, Velocity Potential Fields.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: Autonomous robots are required to avoid the obstacles during navigation. For this purpose unknown and unexpected obstacles have to be detected during motion. The proposed approach uses particle filters to process sensors data and estimate relative position of the robot with regard to the obstacles and to the goal. These relative position estimations are inputs to the velocity potential field approach for obtaining time varying velocity commands for the robot to avoid all obstacles and reach the goal.

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Paper citation in several formats:
Necsulescu, D.; Bai, J. and Sasiadek, J. (2015). Robot Navigation using Velocity Potential Fields and Particle Filters for Obstacle Avoidance.In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-122-9, pages 43-48. DOI: 10.5220/0005501400430048

@conference{icinco15,
author={Dan{-}Sorin Necsulescu. and Jin Bai. and Jurek Sasiadek.},
title={Robot Navigation using Velocity Potential Fields and Particle Filters for Obstacle Avoidance},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2015},
pages={43-48},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005501400430048},
isbn={978-989-758-122-9},
}

TY - CONF

JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Robot Navigation using Velocity Potential Fields and Particle Filters for Obstacle Avoidance
SN - 978-989-758-122-9
AU - Necsulescu, D.
AU - Bai, J.
AU - Sasiadek, J.
PY - 2015
SP - 43
EP - 48
DO - 10.5220/0005501400430048

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