Regular Papers
International Journal of Control, Automation and Systems 2010; 8(3): 597-603
Published online June 5, 2010
https://doi.org/10.1007/s12555-010-0312-7
© The International Journal of Control, Automation, and Systems
A Method for Combining Odometry and Distance Sensor Information for Effective Obstacle Avoidance of Autonomous Mobile Robots
In this paper, a concept for virtual sensors is proposed for efficient avoidance of obstacles during the motion of robots. The virtual sensor yields new data by combining encoder values and real distance data, and derives new sensor data that includes the mobility of the robot. Simulation on Windows XP is executed to illustrate the proposed approach with actually acquired distance from virtual and actual sensors. To facilitate comparison with the alternative results developed in this paper, we refer to the conventional artificial potential field method using actual distance. Data from virtual sensors show smoother and safer motion in obstacle avoidance traces in regards to obstacle and robot mobility.
Keywords Mobile robot, obstacle avoidance, relative distance, virtual sensor.
PDF
Standard view
Export citation
Share Article
Regular Papers
International Journal of Control, Automation and Systems 2010; 8(3): 597-603
Published online June 1, 2010 https://doi.org/10.1007/s12555-010-0312-7
Copyright © The International Journal of Control, Automation, and Systems.
A Method for Combining Odometry and Distance Sensor Information for Effective Obstacle Avoidance of Autonomous Mobile Robots
Dong Jin Seo, Nak Yong Ko*, and Jung Eun Son
Chosun University, Korea
Abstract
In this paper, a concept for virtual sensors is proposed for efficient avoidance of obstacles during the motion of robots. The virtual sensor yields new data by combining encoder values and real distance data, and derives new sensor data that includes the mobility of the robot. Simulation on Windows XP is executed to illustrate the proposed approach with actually acquired distance from virtual and actual sensors. To facilitate comparison with the alternative results developed in this paper, we refer to the conventional artificial potential field method using actual distance. Data from virtual sensors show smoother and safer motion in obstacle avoidance traces in regards to obstacle and robot mobility.
Keywords: Mobile robot, obstacle avoidance, relative distance, virtual sensor.
Vol. 22, No. 9, pp. 2673~2953
Stats or Metrics
Share this article on
Related articles in IJCAS
-
Virtual-leader Split/Rejoin-based Flocking Control With Obstacle Avoidance for Multi-agents
Jianhui Wu, Yuanfa Ji*, Xiyan Sun, and Weibin Liang
International Journal of Control, Automation, and Systems 2024; 22(5): 1680-1690 -
Improvement of Dynamic Window Approach Using Reinforcement Learning in Dynamic Environments
Jinseok Kim and Gi-Hun Yang*
International Journal of Control, Automation and Systems 2022; 20(9): 2983-2992 -
Saturated Proportional-integral-type Control of UWMRs with Experimental Evaluations
Javier Moreno-Valenzuela, Luis Gonzalo Montoya-Villegas*, Ricardo Pérez-Alcocer, and Raúl Rascón
International Journal of Control, Automation and Systems 2022; 20(1): 184-197
