scholarly journals Real-time Obstacle Avoidance of a Two-wheeled Mobile Robot via Minimum Projection Method

2011 ◽  
Vol 47 (2) ◽  
pp. 90-99 ◽  
Author(s):  
Yoshiro FUKUI ◽  
Hisakazu NAKAMURA ◽  
Hirokazu NISHITANI
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Projection Method ◽  
Wheeled Mobile Robot

Study of obstacle avoidance based on fuzzy planner for wheeled mobile robot

2011 ◽  
Author(s):  
Suolin Duan ◽  
Yunfeng Li ◽  
Shuyue Chen ◽  
Lanping Chen ◽  
Ling Zou ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Wheeled Mobile Robot

A Human-Inspired Method for Point-to-Point and Path-Following Navigation of Mobile Robots

2015 ◽  
Vol 7 (4) ◽  
Author(s):  
F. Heidari ◽  
R. Fotouhi
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Path Following ◽  
Obstacle Detection ◽  
Wheeled Mobile Robot ◽  
Sensor Data ◽  
Integrated Navigation ◽  
Fully Integrated ◽  
Point Motion ◽  
Point To Point

This paper describes a human-inspired method (HIM) and a fully integrated navigation strategy for a wheeled mobile robot in an outdoor farm setting. The proposed strategy is composed of four main actions: sensor data analysis, obstacle detection, obstacle avoidance, and goal seeking. Using these actions, the navigation approach is capable of autonomous row-detection, row-following, and path planning motion in outdoor settings. In order to drive the robot in off-road terrain, it must detect holes or ground depressions (negative obstacles) that are inherent parts of these environments, in real-time at a safe distance from the robot. Key originalities of the proposed approach are its capability to accurately detect both positive (over ground) and negative obstacles, and accurately identify the end of the rows of bushes (e.g., in a farm) and enter the next row. Experimental evaluations were carried out using a differential wheeled mobile robot in different settings. The robot, used for experiments, utilizes a tilting unit, which carries a laser range finder (LRF) to detect objects, and a real-time kinematics differential global positioning system (RTK-DGPS) unit for localization. Experiments demonstrate that the proposed technique is capable of successfully detecting and following rows (path following) as well as robust navigation of the robot for point-to-point motion control.

REAL-TIME SLIDING-MODE ADAPTIVE CONTROL OF A MOBILE PLATFORM WHEELED MOBILE ROBOT

2008 ◽  
Vol 41 (2) ◽  
pp. 4393-4399 ◽  
Author(s):  
A. Filipescu ◽  
AL. Stancu ◽  
S. Filipescu ◽  
G. Stamatescu
Keyword(s):  
Adaptive Control ◽  
Mobile Robot ◽  
Real Time ◽  
Sliding Mode ◽  
Wheeled Mobile Robot ◽  
Mobile Platform
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