Autonomous navigation with deadlock detection and avoidance
This paper studies alternatives to solve the problem of autonomous mobile robots navigation in unknown indoor environments. The navigation system uses fuzzy logic to combine the information obtained from range sensors and the navigational data to plan the robot’s movements. The strategy is built up...
| Autores principales: | , |
|---|---|
| Formato: | Objeto de conferencia |
| Lenguaje: | Inglés |
| Publicado: |
2013
|
| Materias: | |
| Acceso en línea: | http://sedici.unlp.edu.ar/handle/10915/76222 http://42jaiio.sadio.org.ar/proceedings/simposios/Trabajos/ASAI/12.pdf |
| Aporte de: |
| id |
I19-R120-10915-76222 |
|---|---|
| record_format |
dspace |
| institution |
Universidad Nacional de La Plata |
| institution_str |
I-19 |
| repository_str |
R-120 |
| collection |
SEDICI (UNLP) |
| language |
Inglés |
| topic |
Ciencias Informáticas navigational system mobile robots |
| spellingShingle |
Ciencias Informáticas navigational system mobile robots Sanchez, Guido Giovanini, Leonardo L. Autonomous navigation with deadlock detection and avoidance |
| topic_facet |
Ciencias Informáticas navigational system mobile robots |
| description |
This paper studies alternatives to solve the problem of autonomous mobile robots navigation in unknown indoor environments.
The navigation system uses fuzzy logic to combine the information obtained from range sensors and the navigational data to plan the robot’s movements. The strategy is built upon five modules: i) target following, ii) obstacle avoidance, iii) possible path, iv) deadlock detection and v) wall following. Given a possible path and obstacles near the environment of the robot, the controller will modulate the output velocity in order to go to the target and avoid collisions. In case of dead lock situations, a method that enables the robot to detect, escape and reach the target is proposed. The performance and behavior of the proposed navigational system was evaluated through simulations in different conditions, where the effectiveness of the proposed method is demonstrated and compared with previous results. |
| format |
Objeto de conferencia Objeto de conferencia |
| author |
Sanchez, Guido Giovanini, Leonardo L. |
| author_facet |
Sanchez, Guido Giovanini, Leonardo L. |
| author_sort |
Sanchez, Guido |
| title |
Autonomous navigation with deadlock detection and avoidance |
| title_short |
Autonomous navigation with deadlock detection and avoidance |
| title_full |
Autonomous navigation with deadlock detection and avoidance |
| title_fullStr |
Autonomous navigation with deadlock detection and avoidance |
| title_full_unstemmed |
Autonomous navigation with deadlock detection and avoidance |
| title_sort |
autonomous navigation with deadlock detection and avoidance |
| publishDate |
2013 |
| url |
http://sedici.unlp.edu.ar/handle/10915/76222 http://42jaiio.sadio.org.ar/proceedings/simposios/Trabajos/ASAI/12.pdf |
| work_keys_str_mv |
AT sanchezguido autonomousnavigationwithdeadlockdetectionandavoidance AT giovaninileonardol autonomousnavigationwithdeadlockdetectionandavoidance |
| bdutipo_str |
Repositorios |
| _version_ |
1764820487929593856 |