Costmap Generation Based on Dynamic Obstacle Detection and Velocity Obstacle Estimation for Autonomous Mobile Robot

2021 ◽  
Author(s):  
Chin-Sheng Chen ◽  
Si-Yu Lin
Keyword(s):  
Mobile Robot ◽  
Obstacle Detection ◽  
Autonomous Mobile Robot ◽  
Dynamic Obstacle ◽  
Velocity Obstacle

scholarly journals OBSTACLE DETECTION AND NAVIGATION OF AUTONOMOUS ROBOT

2014 ◽  
pp. 275-279
Author(s):  
HIMANSU SEKHAR SASMAL ◽  
TAPAN NAYAK ◽  
Srikanta Patnaik
Keyword(s):  
Mobile Robot ◽  
Obstacle Detection ◽  
Autonomous Robot ◽  
Control Signal ◽  
Autonomous Mobile Robot ◽  
C Language

This report presents an obstacle detect autonomous mobile robot. Robot used an Atmega 32 microcontroller as its brain. Atmega 32 receives input from Ultrasonic Distance Meter (UDM). Some computations are performed on this input and a control signal is generated to control the robot's position. This control signal is generated through a PWM signal. which is implemented in the microcontroller. Afterwards, microcontroller was programmed in C language using a AVR Studio4 compiler.

scholarly journals Hybrid Kalman Filter/Fuzzy Logic based Position Control of Autonomous Mobile Robot

10.5772/5789 ◽  
2005 ◽  
Vol 2 (3) ◽  
pp. 20 ◽  
Author(s):  
Rerngwut Choomuang ◽  
Nitin Afzulpurkar
Keyword(s):  
Fuzzy Logic ◽  
Kalman Filter ◽  
Mobile Robot ◽  
Position Control ◽  
Ground Plane ◽  
Systematic Errors ◽  
Obstacle Detection ◽  
Main Concern ◽  
Autonomous Mobile Robot ◽  
Wheel Slip

This paper describes position control of autonomous mobile robot using combination of Kalman filter and Fuzzy logic techniques. Both techniques have been used to fuse information from internal and external sensors to navigate a typical mobile robot in an unknown environment. An obstacle avoidance algorithm utilizing stereo vision technique has been implemented for obstacle detection. The odometry errors due to systematic-errors (such as unequal wheel diameter, the effect of the encoder resolution etc.) and/or non-systematic errors (ground plane, wheel-slip etc.) contribute to various motion control problems of the robot. During the robot moves, whether straight-line and/or arc, create the position and orientation errors which depend on systematic and/or non-systematic odometry errors. The main concern in most of the navigating systems is to achieve the real-time and robustness performances to precisely control the robot movements. The objective of this research is to improve the position and the orientation of robot motion. From the simulation and experiments, we prove that the proposed mobile robot moves from start position to goal position with greater accuracy avoiding obstacles.

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