A NEW APPROACH TO AVOID OBSTACLES IN MOBILE ROBOT NAVIGATION: TANGENTIAL ESCAPE

Andre Ferreira, Mario Sarcinelli Filho, Teodiano Freire Bastos Filho

2005

Abstract

This paper proposes a new strategy for obstacle deviation when a mobile robot is navigating in a semi-structured environment. The proposed control architecture is based on a reactive approach, thus demanding low computational effort. It allows the robot to navigate from a starting point to a destination point without colliding to any obstacle in its path. The deviation from an obstacle is performed according to an escape angle calculated so that the new robot orientation is tangent to the obstacle. It is shown that such strategy generates more efficient trajectories, in the sense that the destination point is reached in less time while saving energy and reducing the demand on the robot motors. Another meaningful feature of the proposed strategy is that it also allows to implement the behaviors Wall Following and Corridor Following with no additional computation.

Paper Citation

in Harvard Style

Ferreira A., Sarcinelli Filho M. and Freire Bastos Filho T. (2005). A NEW APPROACH TO AVOID OBSTACLES IN MOBILE ROBOT NAVIGATION: TANGENTIAL ESCAPE . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 341-346. DOI: 10.5220/0001169403410346

in Bibtex Style

@conference{icinco05,
author={Andre Ferreira and Mario Sarcinelli Filho and Teodiano Freire Bastos Filho},
title={A NEW APPROACH TO AVOID OBSTACLES IN MOBILE ROBOT NAVIGATION: TANGENTIAL ESCAPE},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={341-346},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001169403410346},
isbn={972-8865-30-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - A NEW APPROACH TO AVOID OBSTACLES IN MOBILE ROBOT NAVIGATION: TANGENTIAL ESCAPE
SN - 972-8865-30-9
AU - Ferreira A.
AU - Sarcinelli Filho M.
AU - Freire Bastos Filho T.
PY - 2005
SP - 341
EP - 346
DO - 10.5220/0001169403410346