Bio-Inspired, Real-Time Passive Vision for Mobile Robots

In recent years, autonomous robots have extensively been used to automate several vineyard tasks. Autonomous navigation is an indispensable component of such field robots. Autonomous and safe navigation has been well studied in indoor environments and many algorithms have been proposed. However, unlike structured indoor environments, vineyards pose special challenges for robot navigation. Particularly, safe robot navigation is crucial to avoid damaging the grapes. In this regard, we propose an algorithm that enables autonomous and safe robot navigation in vineyards. The proposed algorithm relies on data from a Lidar sensor and does not require a GPS. In addition, the proposed algorithm can avoid dynamic obstacles in the vineyard while smoothing the robot’s trajectories. The curvature of the trajectories can be controlled, keeping a safe distance from both the crop and the dynamic obstacles. We have tested the algorithm in both a simulation and with robots in an actual vineyard. The results show that the robot can safely navigate the lanes of the vineyard and smoothly avoid dynamic obstacles such as moving people without abruptly stopping or executing sharp turns. The algorithm performs in real-time and can easily be integrated into robots deployed in vineyards.

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Sparsed potential-PCNN for real time path planning and indoor navigation scheme for mobile robots

2011 IEEE International Conference on Mechatronics and Automation ◽

10.1109/icma.2011.5986339 ◽

2011 ◽

Cited By ~ 2

Author(s):

S. U. Ahmed ◽

U. A. Malik ◽

K. F. Iqbal ◽

Y. Ayaz ◽

F. Kunwar

Keyword(s):

Path Planning ◽

Mobile Robots ◽

Real Time ◽

Indoor Navigation ◽

Time Path ◽

Navigation Scheme

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A Real-time Algorithm for Obstacle Avoidance of Autonomous Mobile Robots

Robotica ◽

10.1017/s0263574700007955 ◽

1992 ◽

Vol 10 (3) ◽

pp. 217-227 ◽

Cited By ~ 19

Author(s):

Huang Han-Pang ◽

Lee Pei-Chien

Keyword(s):

Mobile Robots ◽

Real Time ◽

Obstacle Avoidance ◽

Time Algorithm ◽

Autonomous Mobile Robots ◽

Computational Time ◽

Avoidance Problem

SUMMARYA real-time obstacle avoidance algorithm is proposed for autonomous mobile robots. The algorithm is sensor-based and consists of a H-mode and T-mode. The algorithm can deal with a complicated obstacle environment, such as multiple concave and convex obstacles. It will be shown that the algorithm is more efficient and more robust than other sensor-based algorithms. In addition, the algorithm will guarantee a solution for the obstacle avoidance problem. Since the algorithm only takes up a small computational time, it can be implemented in real time.

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