Browse > Article
http://dx.doi.org/10.5391/IJFIS.2010.10.3.210

Integrated Path Planning and Collision Avoidance for an Omni-directional Mobile Robot  

Kim, Dong-Hun (Department of Electrical Engineering, Kyungnam University)
Publication Information
International Journal of Fuzzy Logic and Intelligent Systems / v.10, no.3, 2010 , pp. 210-217 More about this Journal
Abstract
This paper presents integrated path planning and collision avoidance for an omni-directional mobile robot. In this scheme, the autonomous mobile robot finds the shortest path by the descendent gradient of a navigation function to reach a goal. In doing so, the robot based on the proposed approach attempts to overcome some of the typical problems that may pose to the conventional robot navigation. In particular, this paper presents a set of analysis for an omni-directional mobile robot to avoid trapped situations for two representative scenarios: 1) Ushaped deep narrow obstacle and 2) narrow passage problem between two obstacles. The proposed navigation scheme eliminates the nonfeasible area for the two cases by the help of the descendent gradient of the navigation function and the characteristics of an omni-directional mobile robot. The simulation results show that the proposed navigation scheme can effectively construct a path-planning system in the capability of reaching a goal and avoiding obstacles despite possible trapped situations under uncertain world knowledge.
Keywords
autonomous robot; navigation; map building; omni-directional mobile robot; obstacle avoidance;
Citations & Related Records
연도 인용수 순위
  • Reference
1 B. P. Gerkey, R. T. Vaughan, K. Stoy, A. Howard, G. S. Sukhatme, and M. J. Mataric, “Most Valuable Player: A Robot Device Server for Distributed Control,” in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1226–1231, Wailea, Hawaii, 2001.   DOI
2 B. Gerkey, R. T. Vaughan, and A. Howard. “The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems,” in Proc. of 11th Int. Conf. on Advanced Robotics, pp. 317–323, Coimbra, Portugal, June, 2003.
3 L. Kavraki, P. Svestka, J.-C. Latombe and M. Overmars. “Probabilistic Roadmaps for Path Planning in High Dimensional Configuration Spaces,” IEEE Transactions on Robotics and Automation, vol. 4, pp. 566–580, 1996.
4 I. Ulrich and J. Borenstein. “VFH+: Reliable Obstacle Avoidance for Fast Mobile Robots, ” In Proc. of the 1998 IEEE Int. Conf. on Robotics and Automation, pp. 1572–1577, 1998.   DOI
5 W. Burgard, A.B. Cremers, D. Fox, D. Hähnel, G. Lakemeyer, D. Schulz, W. Steiner, and S. Thrun. “Experiences with an Interactive Museum Tour-guide Robot,” Artificial Intelligence, vol. 1–2, 2000.
6 S. Thrun. A. Bücken, W. Burgard, D. Fox, T. Fröhlinghaus, D. Henning, T. Hofmann, M. Krell, and T. Schimdt. “Map Learning and High-Speed Navigation in RHINO. In D. Kortenkamp, R.P. Bonasso and R. Murphy, editors, AI-Based Mobile Robots: Case Studies of Successful Robot Systems,” MIT Press, Cambridge, MA, 1998.
7 A. Elfes, “A Sonar-Based Mapping and Navigation System. in Carnegie-Mellon University,” The Robotics Institute, Technical Report, pp. 25-30, 1985.
8 H.P. Moravec and A.Elfes, “High Resolution Maps from Wide Angle Sonar,” In Proc. IEEE Int. Conf. Roboti cs and Automation, pp.116-121, 1985.   DOI
9 D. Pagac, E. M. Nebot and H. D.-Whyte, “An Evidenti al Approach to Map-Building for Autonomous Vehicle s,” IEEE Transactions on Robotics and Automation, vol. 4, 1998.
10 J.-C.Latombe, “Robot Motion Planning,” Kluwer Academic Publishers, Boston, MA, 1991.
11 J. J. Leonard, “Directed sonar sensing for mobile robot navigation,” Ph.D. dissertation, University of Oxford, Oxford, U.K., 1991.
12 B. Barshan and R. Kuc, “Differentiation sonar reflecti ons from corners and planes by employing and intelligent sensor,” IEEE Trans. Pattern Analysis. Machine Intelligence, pp. 560–569, 1990.   DOI   ScienceOn
13 D. Fox, W. Burgard, and S. Thrun, “The Dynamic Window Approach to Collision Avoidance,” IEEE Robotics & Automation Magazine, vol. 1, 1997.
14 O. Khatib, “Real-time Obstacle Avoidance for Robot Manipulator and Mobile Robots, ” The International Journal of Robotics Research, vol. 1, pp. 90–98, 1986.
15 J. Borenstein and Y. Koren, “The Vector field Histogram-Fast Obstacle Avoidance for Mobile Robots,” IEEE Trans. on Robotics and Automation, vol. 3, pp. 278–288, 1991.   DOI   ScienceOn
16 D. Fox, W. Burgard, and S. Thrun, “A hybrid collision avoidance method for mobile robots,” in Proc. of the IEEE Int. Conf. on Robotics & Automation(ICRA), 1998.   DOI
17 O. Brock and O. Khatib, “High-speed navigation using the global dynamic window approach,” in Proc. of the IEEE Int. Conf. on Robotics & Automation(ICRA), 1999.   DOI
18 M. Khatib and R. Chatila. “An Extended Potential Field Approach for Mobile Robot Sensor-based Motions,” in Proc. of Int. Conf. on Itelligent Autonomous Systems(IAS’4), 1995.
19 N. Y. Ko and R. Simmons, “The Lane-curvature Method for Local Obstacle Avoidance,” in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems(IROS), 1998.   DOI
20 C. Trevai, R. Takemoto, Y. Fukazawa, J. Ota and T. Arai. “Local Obstacle Avoidance with Reliable Goal Acquisition for Mobile Robots,” Distributed Autonomous Robotics Systems(DARS04), 2004.
21 C. Schlegel. “Fast Local Obstacle Avoidance under Kinematic and Dynamic Constraints for a Mobile Robot,” in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems(IROS), 1998.   DOI
22 J. Buhmann, W. Burgard, A.B. Cremers, D. Fox, T Hofmann, F. Schneider, J. Strikos and S. Thrun. “The Mobile Robot RHINO,” AI Magazine,vol. 1, 1995.
23 W. Kevin and A. Bowyer, “A survey of configuration-space mapping techniques for a single robot in a static environment,” Int. Journal of Robotics Research, vol. 8, pp. 762-779, 2000.
24 P. Stepan, L. Kral , M. Kulich, and L. Preucil, “Open control architecture for mobile robot,” Proc. of 14th World Congress of IFAC, pp. 163-168, 1999.
25 B. Wielinga and G. Schreiber, “Configuration-design problem solving, ” IEEE Expert , pp. 49-56, 1997.   DOI   ScienceOn
26 J. C. Latombe, “Robot Motion Planning,” Boston, MA:Kluer , 1991.
27 E. Rimon and D. E. Koditschek, “Exact robot navigation using artificial potential functions, ” IEEE Trans. on Robotics and Automation, vol. 5, pp. 501-518, 1992.   DOI   ScienceOn
28 Y. Koren and J. Borenstein, “Potential field methods and their inherent limitations for mobile robot navigation,” Proc. of the IEEE int. Conf. on Robotics & Automation, pp. 1398-1404, 1991.   DOI
29 H. Asama, M. Sato, L. Bogoni, H. Kaetsu, A. Matsumoto, and I. Endo, “Development of an Omni-Directional Mobile Robot with 3 DOF Decoupling Drive Mechanism,” in Proc. of the IEEE Int. Conf. on Robotics and Automation, Nagoya, Japan, pp. 1925–1930, 1995.   DOI
30 K. Konolige, “A gradient method for realtime robot control,” Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2000.   DOI
31 J.-C. Latombe, “Robot Motion Planning.,” Kluwer Academic Publishers, 1991.