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http://dx.doi.org/10.6109/jkiice.2011.15.4.759

Navigation Control of Mobile Robot based on VFF to Avoid Local-Minimum in a Corridor Environment  

Jin, Tae-Seok (동서대학교 메카트로닉스공학과)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.15, no.4, 2011 , pp. 759-764 More about this Journal
Abstract
This paper deals with the method of using the amended virtual force field technique to avoidance the front environment(wall, obstacles etc.) in navigating by using the environmental informations recognized by a ultrasonic-ring and pan/tilt CCD camera equipped on a mobile robot. we will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. It is proposed the rusult from the experimental run based on a virtual force field(VFF) method to support the validity of the aforementioned architecture of mobile service robot for local navigation and obstacle avoidance for autonomous mobile robots. We will conclude by discussing some possible future extensions of the project. The results show that the proposed algorithm is apt to identify obstacles in an indoor environments to guide the robot to the goal location safely.
Keywords
mobile robot; indoor navigation; obstacle avoidance; multi-sensor; recognition;
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