A Novel Time Decaying Approach to Obstacle Avoidance

Authors:
Sankalp Arora;S. Indu
Affiliations:
Faculty of Delhi College of Engineering, Delhi College of Engineering, Delhi University, New Delhi, India 110042;Faculty of Delhi College of Engineering, Delhi College of Engineering, Delhi University, New Delhi, India 110042
Venue:
PReMI '09 Proceedings of the 3rd International Conference on Pattern Recognition and Machine Intelligence
Year:
2009

Citing 3
Cited 0

Real-time obstacle avoidance for manipulators and mobile robots

International Journal of Robotics Research
Sensor fusion in certainty grids for mobile robots

AI Magazine
A convergent dynamic window approach to obstacle avoidance

IEEE Transactions on Robotics

Quantified Score

Hi-index	0.00

Visualization

Abstract

One of the basic issues in navigation of mobile robots is the obstacle avoidance task which is commonly achieved using reactive control paradigm where a local mapping from perceived states to actions is acquired. The algorithms of this class suffer from a major drawback of exhibiting cyclic behavior when encountered with certain obstacle configurations. This paper presents a cognitive time decaying approach to overcome this cyclic behavior .The Dynamic Window algorithm is taken as an example for implementing this approach. To build a dynamic window based obstacle avoider, we use time decaying heuristic function for history mapping - which innately eliminates local minima even for a cluttered environment and gives the robot an exploratory nature best suited for map building purposes. The algorithm is successfully tested on a simulation, where it is shown to avoid the U bend problem of local minima.