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Autonomous Navigation and Obstacle Avoidance for a Wheeled Mobile Robots: A Hybrid Approach
by
Nacer Hacene,
Boubekeur Mendil
| International Journal of Computer Applications |
| Foundation of Computer Science (FCS), NY, USA |
| Volume 81 - Number 7 |
| Year of Publication: 2013 |
| Authors: Nacer Hacene, Boubekeur Mendil |
10.5120/14027-2285
|
Nacer Hacene, Boubekeur Mendil . Autonomous Navigation and Obstacle Avoidance for a Wheeled Mobile Robots: A Hybrid Approach. International Journal of Computer Applications. 81, 7 ( November 2013), 34-37. DOI=10.5120/14027-2285
@article{
10.5120/14027-2285,
author = {
Nacer Hacene,
Boubekeur Mendil
},
title = { Autonomous Navigation and Obstacle Avoidance for a Wheeled Mobile Robots: A Hybrid Approach },
journal = {
International Journal of Computer Applications
},
issue_date = { November 2013 },
volume = { 81 },
number = { 7 },
month = { November },
year = { 2013 },
issn = { 0975-8887 },
pages = {
34-37
},
numpages = {9},
url = {
https://ijcaonline.org/archives/volume81/number7/14027-2285/
},
doi = { 10.5120/14027-2285 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T21:55:29.756844+05:30
%A Nacer Hacene
%A Boubekeur Mendil
%T Autonomous Navigation and Obstacle Avoidance for a Wheeled Mobile Robots: A Hybrid Approach
%J International Journal of Computer Applications
%@ 0975-8887
%V 81
%N 7
%P 34-37
%D 2013
%I Foundation of Computer Science (FCS), NY, USA
Abstract
In this paper, an autonomous navigation and obstacle avoidance strategy is proposed for an omnidirectional mobile robot. The robot plans a path, starting from an initial point going to a target point. A hybrid approach has been developed where a global approach has been applied to the motion along the desired path (DP) using 2nd order polynomial planning, while a local reactive approach is used to avoid collisions with static and/or dynamic obstacles based on the "sensing vector" and the "gap vector" concepts. The "sensing vector" is a binary vector which provides information about obstacles detection, while the "gap vector" provides information about a possible nearest gap the robot can pass through it.
References
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Index Terms
Computer Science
Information Sciences
Keywords