Real-time obstacle avoidance performed by an autonomous vehicle throughout a smooth trajectory using an electronic stick

Aude, E.P.L.; Menezes, L.F.S.; Lopes, E.P.; Mendes, F.S.; Silveira, J.T.C.; Serdeira, H.; Suva, F.A.B.; Martins, M.F.

doi:10.1109/iros.2003.1250743

Cited by 2 publications

(4 citation statements)

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“…If it so is, the stick's length is reduced. When the stick's size is constantly small, implying a rough AGV trajectory, its necessary to smoothen out the trajectory curve (as discussed in [3]) so as to satisfy the dynamic constraints of the robot. The simulation presented showed the effectiveness of the algorithm in a challenging situation and the successful results of our study.…”

Section: Discussionmentioning

confidence: 99%

“…Our method uses harmonic vector fields to take advantage of the availability of a floor plan to allow much of the burden of field calculation to be dealt with before the AGV starts moving. This leaves only easy vector field update operations and fifth-order polynomial trajectory interpolations [3] to be done while the robot is moving.…”

Section: This Work Is Supported By Finep (Research and Projects Finanmentioning

confidence: 99%

“…This paper discusses new developments on the application of the Blind Person Strategy for Obstacle Avoidance using the Potential Fields algorithm proposed by Lopes [1] for the navigation of the CONTROLAB AGV within a set of rooms in a building. As discussed in [1], [2], [3], the CONTROLAB AGV indoor navigation problem has been set and solved as follows. The CONTROLAB AGV is a tricycle vehicle which displays circular symmetry and has a set of infrared sensors on the lower end of its front part.…”

Section: Introductionmentioning

confidence: 99%

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Obstacle avoidance strategy based on adaptive potential fields generated by an electronic stick

Lopes

Aude

Silveira

et al. 2005

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

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In our previous work, an obstacle avoidance algorithm, which used potential fields and a similar strategy to that adopted by a blind person to avoid obstacles whilst walking, was proposed. The problem analyzed consists of an AGV (Autonomous Guided Vehicle) which moves within an office environment with a known floor plan and uses an "electronic stick" made up of infrared sensors to detect unknown obstacles in its path. Initially, a global potential navigation function, defined for each room in the floor plan, incorporates information about the dimensions of the room and the position of the door which the AGV must use to leave the room. Whilst the AGV moves, this global potential navigation function is properly modified to incorporate information about any newly detected obstacle. The main interesting aspect of the proposed approach is that the potential function adaptation involves very low computational burden allowing for the use of Ultra-fast AGVs. Other distinctive features of the algorithm are that it is free from local minima, the obstacles can have any shape, low cost sensors can be used to detect obstacles and an appropriate balance is achieved between the use of the global and the local approaches for collision avoidance. Our present work is a refinement of this strategy that allows for an automatic real time adaptation of the algorithm's parameters. Now, the algorithm's functioning requires only that the minimum distance at which the AGV can approach an obstacle (i.e. the closest it can get to any obstacle) is defined a priori. Aspects of the real implementation of the algorithm are also discussed.

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Section: Discussionmentioning

confidence: 99%

Section: This Work Is Supported By Finep (Research and Projects Finanmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Obstacle avoidance strategy based on adaptive potential fields generated by an electronic stick

Lopes

Aude

Silveira

et al. 2005

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…Future work will include the actual implementation and evaluation of the proposed parallel algorithm within a team of cooperative mobile robots under development in our laboratory (Lopes, 2001) (Aude, 2003). 2 proc -triangles 4 proc -triangles 6 proc -triangles 2 proc -mixed 4 proc -mixed 6 proc -mixed…”

Section: Discussionmentioning

confidence: 99%

Construction of the Voronoi Diagram by a Team of Cooperative Robots

Mendes¹,

Aude²,

Pinto³

et al. 2004

Proceedings of the First International Conference on Informatics in Control, Automation and Robotics

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This paper presents a method for cooperation in the construction of Voronoi diagrams which is suitable for use in dangerous tasks performed by a team of robots. The algorithm has been implemented on a network of eight workstations using the MPI library. Two implementation approaches have been used. In the first one, no communication among the robots is required but some degree of redundancy in the work performed by the robots may result. In the second approach, a more cooperative scheme is adopted and, as a consequence, communication among the robots increases but the work performed by each one is reduced. In both approaches, the calculation time decreases almost linearly when adding robots to the team. Nevertheless, the second approach, more cooperative, has consistently produced better results. With the achieved speed-up, it is possible to use this algorithm in applications where the obstacle configuration within the robot team working area changes with time.

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Real-time obstacle avoidance performed by an autonomous vehicle throughout a smooth trajectory using an electronic stick

Cited by 2 publications

References 5 publications

Obstacle avoidance strategy based on adaptive potential fields generated by an electronic stick

Obstacle avoidance strategy based on adaptive potential fields generated by an electronic stick

Construction of the Voronoi Diagram by a Team of Cooperative Robots

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