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http://dx.doi.org/10.5370/KIEE.2014.63.9.1266

Mobile Robot Navigation with Obstacle Avoidance based on the Nonlinear Least Squares Optimization Method using the Cost Function and the Sub-Goal Switching  

Jung, Young-Jong (Dept. of Control and Robotics Engineering, Chungbuk Nat'l University)
Kim, Gon-Woo (School of Electronics Engineering, Chungbuk Nat'l University)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.63, no.9, 2014 , pp. 1266-1272 More about this Journal
Abstract
We define the mobile robot navigation problem as an optimization problem to minimize the cost function with the pose error between the goal position and the position of a mobile robot. Using Gauss-Newton method for the optimization, the optimal speeds of the left and right wheels can be found as the solution of the optimization problem. Especially, the rotational speed of wheels of a mobile robot can be directly related to the overall speed of a mobile robot using the Jacobian derived from the kinematic model. When the robot detects the obstacle using sensors, the sub-goal switching method is adopted for the efficient obstacle avoidance during the navigation. The performance was evaluated using the simulation and the simulation results show the validity of the proposed method.
Keywords
Mobile Robot; Navigation; Nonlinear Least Squares; Sub-Goal; Obstacle Avoidance;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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