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http://dx.doi.org/10.5302/J.ICROS.2007.13.7.631

Dynamic Obstacle Avoidance of a Mobile Robot Using a Collision Vector  

Seo, Dae-Geun (부산대학교 전자공학과)
Lyu, Eun-Tae (부산대학교 전자공학과)
Lee, Jang-Myung (부산대학교 전자공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.13, no.7, 2007 , pp. 631-636 More about this Journal
Abstract
An efficient obstacle avoidance algorithm is proposed in this paper to avoid dynamic obstacles using a collision vector while a tele-operated mobile robot is moving. For the verification of the algorithm, an operator watches through a monitor and controls the mobile robot with a force-reflection joystick. The force-reflection joystick transmits a virtual force to the operator through the Inter-net, which is generated by an adaptive impedance algorithm. To keep the mobile robot safe from collisions in an uncertain environment, the adaptive impedance algorithm generates the virtual force which changes the command of the operator by pushing the operator's hand to a direction to avoid the obstacle. In the conventional virtual force algorithm, the avoidance of moving obstacles was not solved since the operator cannot recognize the environment realistically by the limited communication bandwidth and the narrow view-angle of the camera. To achieve the dynamic obstacle avoidance, the adaptive virtual force algorithm is proposed based on the collision vector that is a normal vector from the obstacle to the mobile robot. To verify the effectiveness of the proposed algorithm, mobile robot navigation experiments with multiple moving obstacles have been performed, and the results are demonstrated.
Keywords
collision vector; mobile robot; inter-net; virtual force; dynamic obstacle;
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