Autonomous robot vehicles
On the implementation of a robotic assistant for the elderly: a novel approach
CIMMACS'08 Proceedings of the 7th WSEAS international conference on Computational intelligence, man-machine systems and cybernetics
Real-time, embedded fuzzy control of the pioneer3-DX robot for path following
ICS'08 Proceedings of the 12th WSEAS international conference on Systems
Implementation of the avoidance algorithm for autonomous mobile robots using fuzzy rules
FSKD'06 Proceedings of the Third international conference on Fuzzy Systems and Knowledge Discovery
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This paper proposes a novel, reactive algorithm for real time obstacle avoidance, compatible with low cost sonar or infrared sensors, fast enough to be implemented on embedded microcontrollers. We called this algorithm "the bubble rebound algorithm". According to this algorithm, only the obstacles detected within an area called "sensitivity bubble" around the robot are considered. The shape and size of the sensitivity bubble are dynamically adjusted, depending on the kinematics of the robot. Upon detection of an obstacle, the robot "rebounds" in a direction having the lowest density of obstacles, and continues its motion in this direction until the goal becomes visible, or a new obstacle is encountered. The performances and drawbacks of the method are described, based on the experimental results with simulators and real robots.