Rover visual obstacle avoidance
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
| Hi-index | 22.14 |
A method of control has been devised to guide a mobile robot automatically through a passage without collision in an environment of obstacles. The guidance strategy is based on the premise that each obstacle exerts upon the mobile robot a repulsion, which varies inversely with the distance between the robot and the obstacle, and becomes infinite as the robot approaches the obstacle. To reduce the processing time a simple kinematic model is considered; no account is taken of dynamic effects and wheel slips. However, the mobile robot is said to be intelligent, such that deviations from the ideal path due to realistic conditions may be for the most part corrected by subsequent inputs from the sensory device. Effectiveness of the guidance strategy has been examined analytically for small deviations and numerically for large deviations. The conclusions lead to criteria for selecting control parameters for better guidance. Computer simulations have also been made to model the two-way traffic of mobile robots in a passage between two straight walls and to study the mobile robot turning a sharp corner.