Authors:
Dan-Sorin Necsulescu
1
;
Jin Bai
1
and
Jurek Sasiadek
2
Affiliations:
1
University of Ottawa, Canada
;
2
Carleton University, Canada
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.