Sonar-based obstacle avoidance using region partition scheme

• Published in: Journal of mechanical science and technology Vol. 24; no. 1; pp. 365 - 372
• Main Authors: Quyen Bui, T. T., Hong, Keum-Shik
• Format: Journal Article
• Language: English
• Published: Heidelberg Korean Society of Mechanical Engineers 01.01.2010; Springer Nature B.V; 대한기계학회
• Subjects: Algorithms; Applied sciences; Computer science; control theory; systems; Control; Control theory. Systems; Dynamical Systems; Engineering; Exact sciences and technology; Fundamental areas of phenomenology (including applications); Indoor environments; Industrial and Production Engineering; Mathematical analysis; Mechanical Engineering; Navigation; Obstacle avoidance; Partitions; Physics; Robotics; Robots; Solid dynamics (ballistics, collision, multibody system, stabilization...); Solid mechanics; Supervisors; Vibration; 기계공학; Region partition; Sensor-based navigation; Mobile robot; Obstacle avoidance; Obstacle; Navigation; Moving robot; Measurement sensor; Experimental study; Modeling; Robotics; Center of mass; Unilateral; Collision avoidance
• ISSN: 1738-494X; 1976-3824
• DOI: 10.1007/s12206-009-1204-8

This paper addresses an obstacle avoidance problem for a mobile robot in indoor environment. The collision avoidance algorithm utilizes a region partition scheme to analyze the three forward sensory regions of the robot, then to calculate the minimum distances from the center of mass of the robot to the obstacles, respectively, and ultimately to find a navigable region. The supervisor inside the controller receives a series of obstacle avoidance behaviors and makes a decision that allows the robot to successfully navigate in a cluttered environment. In addition, experimental results to illustrate the proposed obstacle avoidance algorithm for the mobile robot in navigation are also presented.