Hostname: page-component-78c5997874-m6dg7 Total loading time: 0 Render date: 2024-11-05T13:45:05.436Z Has data issue: false hasContentIssue false
  • English
  • Français

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

Published online by Cambridge University Press:  09 March 2009

Huang Han-Pang  and
Lee Pei-Chien
Huang Han-Pang
Affiliation:
Robotics Laboratory, Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan 10764 (R.O.C.)
Lee Pei-Chien
Affiliation:
Robotics Laboratory, Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan 10764 (R.O.C.)
Get access Rights & Permissions [Opens in a new window]

Summary

A 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.

Keywords

Mobile robotObstacle avoidanceNavigation
Type
Article
Information
Robotica , Volume 10 , Issue 3 , May 1992 , pp. 217 - 227
Copyright
Copyright © Cambridge University Press 1992

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Keirsey, D.M., Koch, E., McKisson, J., Meystel, A.M. and Mitchell, J.S.B., “Algorithm of Navigation for a Mobile Robot” IEEE International Conf. on Robotics and Automation 1, 574–583 (1984).Google Scholar
2.Lozáno-Pérez, T. and Wesley, M.A., “An Algorithm for Planning Collision-Free Paths among Polyhedral Obstacles” Communication of the ACM 22(10), 560–570 (1979).Google Scholar
3.Brooks, R.A., “Solving the Find-Path Problem by Good Representation of Free Space” IEEE Trans. on SMC 13(3), 190–197 (1983).Google Scholar
4.Iyengar, S.S., Jorgensen, C.C., Rao, S.V.N. and Weisbin, C.R., “Robot Navigation Algorithms using Learned Spatial Graphs” Robotica 4, No. 2, 93–100 (1986).CrossRefGoogle Scholar
5.Kuan, D.T., Zamiska, J.C. and Brooks, R.A., “Natural Decomposition of Free Space for Path Planning” IEEE International Conf. on Robotics and Automation, 1, 168–173 (1985).Google Scholar
6.Kambhampati, S. and Davis, L.S., “Multiresolution Path Planning for Mobile Robots” IEEE J. Robotics and Automation 2(3), 135–145 (1986).Google Scholar
7.Wong, E.K. and Fu, K.S., “A Hierarchical-Orthogonal-Space Approach to Collision-Free Path Planning” IEEE International Conf. on Robotics and Automation 1, 506–511 (1985).Google Scholar
8.Palma-Villalon, E. and Dauchez, P., “World Representation and Path Planning for a Mobile Robot” Robotica 6, No. 1, 35–40 (1988).CrossRefGoogle Scholar
9.Khatib, O., “Real-time Obstacle Avoidance for Manipulators and Mobile Robots” IEEE International Conf. on Robotics and Automation 1, 500–505 (1985).Google Scholar
10.Cahn, D.F. and Phillips, S.R., “ROBNAV: A Range-Based Robot Navigation and Obstacle Avoidance Algorithm” IEEE Trans. on SMC 5(9), 544–551 (1975).Google Scholar
11.Elfes, A., “A Sonar-Based Mapping and Navigation Systems” IEEE International Conf. on Robotics and Automation 2, 1151–1156 (1986).Google Scholar
12.Borenstein, J. and Koren, Y., “Real-Time Obstacle Avoidance for Fast Mobile Robots in Cluttered Environments” IEEE International Conf. on Robotics and Automation, 1, 572–577 (1990).Google Scholar
13.Olivier, J.L. and Ozguner, F., “A Navigation Algorithm for an Intelligent Vehicle with a Laser Range Finder” IEEE International Conf. on Robotics and Automation, 2, 1145–1150 (1986).Google Scholar
14.Crowley, J.L., “Dynamic World Modeling for an Intelligent Mobile Robot Using a Rotating Ultrasonic Ranging Device” IEEE International Conf. on Robotics and Automation 1, 128–135 (1985).Google Scholar
15.Flynn, A.M., “Combining Sonar and Infrared Sensors for Mobile Robot Navigation” Int. J. Robotics Research 7(6), 5–14 (1988).CrossRefGoogle Scholar
16.Lumelsky, V.J. and Stepnov, A. A., “Dynamic Path Planning for a Mobile Robot Automation with Limited Information on the Environment” IEEE Trans. on Automatic Control 31(11), 1058–1063 (1986).CrossRefGoogle Scholar