scholarly journals Real-Time Obstacle Avoidance for Fast Mobile Robots

1989 ◽  
pp. 144-148 ◽  
Author(s):  
J. Borenstein ◽  
Y. Koren
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Obstacle Avoidance

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

Robotica ◽  
1992 ◽  
Vol 10 (3) ◽  
pp. 217-227 ◽  
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.

scholarly journals 2D Lidar-Based SLAM and Path Planning for Indoor Rescue Using Mobile Robots

2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Xuexi Zhang ◽  
Jiajun Lai ◽  
Dongliang Xu ◽  
Huaijun Li ◽  
Minyue Fu
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Basic System ◽  
Rescue Robot ◽  
Planning Algorithm ◽  
Local Path ◽  
Slam Algorithm ◽  
Path Planning Algorithm

As the basic system of the rescue robot, the SLAM system largely determines whether the rescue robot can complete the rescue mission. Although the current 2D Lidar-based SLAM algorithm, including its application in indoor rescue environment, has achieved much success, the evaluation of SLAM algorithms combined with path planning for indoor rescue has rarely been studied. This paper studies mapping and path planning for mobile robots in an indoor rescue environment. Combined with path planning algorithm, this paper analyzes the applicability of three SLAM algorithms (GMapping algorithm, Hector-SLAM algorithm, and Cartographer algorithm) in indoor rescue environment. Real-time path planning is studied to test the mapping results. To balance path optimality and obstacle avoidance, A ∗ algorithm is used for global path planning, and DWA algorithm is adopted for local path planning. Experimental results validate the SLAM and path planning algorithms in simulated, emulated, and competition rescue environments, respectively. Finally, the results of this paper may facilitate researchers quickly and clearly selecting appropriate algorithms to build SLAM systems according to their own demands.

Intelligent Robot Obstacle Avoidance Perception Method Using a High-Precision Laser Distance Measuring System

2021 ◽  
Vol 16 (3) ◽  
pp. 471-478
Author(s):  
Yuzhou Liu
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Obstacle Avoidance ◽  
High Precision ◽  
Large Scale ◽  
Measuring System ◽  
Channel Modulation ◽  
Avoidance Control ◽  
Modulation Signal ◽  
Distance Measuring

Laser distance measuring is increasingly used in large-scale and real-time scanning measurement, including three-dimensional map construction, size measurement of large-scale buildings, and real-time surface information acquisition. Therefore, there are high-precision and high-efficiency requirements for the laser distance measuring system. Based on the phase laser distance measuring, a laser parallel distance measuring system is proposed as per the frequency division multiplexer principle. The system uses multi-channel modulation signals with different frequencies to drive multiple lasers to emit light intensity in parallel, and then the light wave is measured according to the change of the modulation signal. The single-channel modulation signal adopts the multi-scale composite wave to eliminate the uncertainty of the whole wavelength by using the combination of two scales and distance measurement. The multiple echo signals after diffuse reflection of the measured target are mixed and received by the same photodetector and go through signal amplification, clutter filtering, etc., and then are sent to the mixing unit together with the reference signal, followed by down-frequency processing, with the effective signal obtained through the low-frequency filter. In the experiment, the laser distance measuring system is used for obstacle avoidance control of mobile robots, and fuzzy control is used to design the corresponding obstacle avoidance controller. The robot lateral deviation and heading angle are used as the input of the fuzzy controller, and the track variation is the output. The test verifies that the obstacle avoidance control is effective, that is, the laser distance measuring system designed in this research can be used for the obstacle avoidance control of mobile robots.

Real-time obstacle avoidance for multiple mobile robots

Robotica ◽  
2009 ◽  
Vol 27 (2) ◽  
pp. 189-198 ◽  
Author(s):  
Farbod Fahimi ◽  
C. Nataraj ◽  
Hashem Ashrafiuon
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Panel Method ◽  
The Other ◽  
Harmonic Potential ◽  
Current Position ◽  
Multiple Mobile Robots ◽  
Moving Obstacles ◽  
Harmonic Potential Field

SUMMARYAn efficient, simple, and practical real time path planning method for multiple mobile robots in dynamic environments is introduced. Harmonic potential functions are utilized along with the panel method known in fluid mechanics. First, a complement to the traditional panel method is introduced to generate a more effective harmonic potential field for obstacle avoidance in dynamically changing environments. Second, a group of mobile robots working in an environment containing stationary and moving obstacles is considered. Each robot is assigned to move from its current position to a goal position. The group is not forced to maintain a formation during the motion. Every robot considers the other robots of the group as moving obstacles and hence the physical dimensions of the robots are also taken into account. The path of each robot is planned based on the changing position of the other robots and the position of stationary and moving obstacles. Finally, the effectiveness of the scheme is shown by modeling an arbitrary number of mobile robots and the theory is validated by several computer simulations and hardware experiments.

Real-time obstacle avoidance of mobile robots

2007 ◽  
Author(s):  
Xuan-Thu Le ◽  
Eun-Zu Hong ◽  
Han-Sung Kim ◽  
Young-Rok Cheon ◽  
Se-Han Lee ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Obstacle Avoidance
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