A Sensor Based Navigation Algorithm for a Mobile Robot using the DVFF Approach

International Journal of Advanced Robotic Systems

关键词: Autonomous mobile robot;    global navigation;    VFF algorithm;    obstacle avoidance;    D* algorithm;   

DOI  :  10.5772/6797

学科分类：自动化工程

来源: InTech

【 摘 要 】

Often autonomous mobile robots operate in environment for which prior maps are incomplete or inaccurate. They require the safe execution for a collision free motion to a goal position. This paper addresses a complete navigation method for a mobile robot that moves in unknown environment. Thus, a novel method called DVFF combining the Virtual Force Field (VFF) obstacle avoidance approach and global path planning based on D* algorithm is proposed. While D* generates global path information towards a goal position, the VFF local controller generates the admissible trajectories that ensure safe robot motion. Results and analysis from a battery of experiments with this new method implemented on a ATRV2 mobile robot are shown.

【 授权许可】

CC BY