Abstract
A basic task an autonomous mobile vehicle must perform in any environment is moving from its current position to a desired position. In order to do so, a capacity to avoid obstacles should be present. However, sensors introduce measurement errors that increase the uncertainty regarding the robot current state. In this work, an obstacle avoidance algorithm based on the methodology of the field of virtual forces for path planning will be implemented. This algorithm is based on a heuristic optimization of the balance between two design objectives: the fast convergence to the objective position and navigation free of collisions. The obstacle avoidance system will be tested on a mobile robot, the Pioneer 3at ® , using its front facing sonars for sensing its environment.
Original language | English |
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Title of host publication | 2018 IEEE Biennial Congress of Argentina |
Publisher | IEEE |
ISBN (Electronic) | 9781538650325 |
DOIs | |
Publication status | Published - 21 Feb 2019 |
Event | 2018 IEEE Biennial Congress of Argentina - San Miguel de Tucuman, Argentina Duration: 6 Jun 2018 → 8 Jun 2018 |
Conference
Conference | 2018 IEEE Biennial Congress of Argentina |
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Abbreviated title | ARGENCON 2018 |
Country/Territory | Argentina |
City | San Miguel de Tucuman |
Period | 6/06/18 → 8/06/18 |
ASJC Scopus subject areas
- Process Chemistry and Technology
- Artificial Intelligence
- Computer Networks and Communications
- Computer Science Applications
- Computer Vision and Pattern Recognition
- Energy Engineering and Power Technology
- Control and Optimization
- Instrumentation