tailieunhanh - Mobile robot navigation_2

Tham khảo sách 'mobile robot navigation_2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 17 An Artificial Protection Field Approach For Reactive Obstacle Avoidance in Mobile Robots Victor Ayala-Ramirez Jose A. Gasca-Martinez Rigoberto Lopez-Padilla and Raul E. Sanchez-Yanez Universidad de Guanajuato DICIS Mexico 1. Introduction Mobile robots using topological navigation require of being able to react to dynamical obstacles in their environment. Reactive obstacle avoidance is also an essential capability needed by a mobile robot evolving in a cluttered dynamic environment. Scenarios like offices where people and robots share a common workspace are difficult to be modeled by static maps. In such scenarios robots need to avoid people and obstacles when executing any other task involving its motion. Another application for reactive obstacle avoidance arises when the robot is building a map of an unknown environment. The robot will need to react to different events during its exploring task. For example the robot needs to be able to avoid a wall not previously known or to evade another moving object in its neighborhood. In the past several researchers have proposed reactive navigation methods. Some examples of these methods are The artificial potential field Khatib 1986 and the elastic band approach Quinlan Khatib 1993 Lamiraux Laumond 2004 proposed originally both by Khatib the vector field histogram Borenstein Koren 1990 the dynamic window approach proposed by Fox et al. 1997 and the nearness diagram recently proposed by Minguez Montano 2004 . Our approach is to build an artificial protection field around the robot and to survey it by fusing laser range finder and odometry measurements. In this work an approach to reactive obstacle avoidance for service robots is proposed. We use the concept of an artificial protection field along a robot pre-planned path. The artificial protection field is a dynamic geometrical neighborhood of the robot and a set of situation assessment rules that determine if the robot needs to evade an object not present in its map .