DYNAMIC OBSTACLE AVOIDANCE FOR AN ACKERMAN VEHICLE - A Vector Field Approach

Tommie Liddy, Tien-Fu Lu, David Harvey

2011

Abstract

A vector field navigation system was shown to avoid dynamic obstacles and reach a goal with a pre-specified position and heading using a simulated Ackerman vehicle. The navigation system was divided into two distinct vector fields, an environmental field which was created for goal oriented navigation and obstacle field which was designed for obstacle avoidance. Discussed in this paper were the methods of obstacle avoidance and combining the two fields of the navigation system. The obstacle avoidance method created a rotational vector field centred on a single obstacle. Algorithms were created to select the obstacle that would be the centre of the field and the direction of rotation of the field. A parameter based method was used to combine the obstacle field and the environmental field. A simulation workspace was created to show the navigation behaviours created by combining these methods and a sample of these results were presented in this paper.

References

  1. J. Borenstein and Y. Koren. Real-Time Obstacle Avoidance for Fast Mobile Robots. IEEE Transactions on Systems, Man, and Cybernetics. Vol. 19 pp. 1179- 1187, 1989.
  2. J. Borenstein and Y. Koren. Real-Time Obstacle Avoidance for Fast Mobile Robots. IEEE Transactions on Systems, Man, and Cybernetics. Vol. 19 pp. 1179- 1187, 1989.
  3. Dongbo Xiao and Roger Hubbold. “Navigation guided by artificial force fields”, SIGCHI Conference on Human factors in computing systems, China, 1998.
  4. Dongbo Xiao and Roger Hubbold. “Navigation guided by artificial force fields”, SIGCHI Conference on Human factors in computing systems, China, 1998.
  5. S. S. Ge and Y. J. Cui, "Dynamic Motion Planning for Mobile Robots Using Potential Field Method", Autonomous Robots, vol 13 pp 207-222, 2002.
  6. S. S. Ge and Y. J. Cui, "Dynamic Motion Planning for Mobile Robots Using Potential Field Method", Autonomous Robots, vol 13 pp 207-222, 2002.
  7. D. K. Lui, D. Wang and G. Dissanayake, “A Force Field Method Based Multi-Robot Collaboration”, IEEE Conference on Robotics, Automation and Mechatronics, 2006.
  8. D. K. Lui, D. Wang and G. Dissanayake, “A Force Field Method Based Multi-Robot Collaboration”, IEEE Conference on Robotics, Automation and Mechatronics, 2006.
  9. Koren and Borenstein, “Potential Field Methods and their Inherent Limitations for Mobile Robot Navigation”, IEEE Conference on Robotics and Automation, 1991.
  10. Koren and Borenstein, “Potential Field Methods and their Inherent Limitations for Mobile Robot Navigation”, IEEE Conference on Robotics and Automation, 1991.
  11. Yong-Jae Kim, Dong-Han Kim and Jong-Hwan Kim. “Evolutionary Programming-Based Uni-vector Field Method for Fast Mobile Robot Navigation”. SEAL'98, LNCS 1585, pp. 154-161, 1999.
  12. Yong-Jae Kim, Dong-Han Kim and Jong-Hwan Kim. “Evolutionary Programming-Based Uni-vector Field Method for Fast Mobile Robot Navigation”. SEAL'98, LNCS 1585, pp. 154-161, 1999.
  13. Savvas G. Loizou, Herbert G. Tanner, Vijay Kumar and Kostas J. Kyriakopoulos. “Closed Loop Motion Planning and Control for Mobile Robots in Uncertain Environments”. IEEE Conference on Decision and Control, Vol. 3, pp. 2926-2931, 2003.
  14. Savvas G. Loizou, Herbert G. Tanner, Vijay Kumar and Kostas J. Kyriakopoulos. “Closed Loop Motion Planning and Control for Mobile Robots in Uncertain Environments”. IEEE Conference on Decision and Control, Vol. 3, pp. 2926-2931, 2003.
  15. Stephen R. Lindemann, Islam I. Hussein and Steven M. LaValle, “Real Time Feedback Control for Nonholonomic Mobile Robots With Obstacles”, IEEE Conference on Decision and Control, 2006.
  16. Stephen R. Lindemann, Islam I. Hussein and Steven M. LaValle, “Real Time Feedback Control for Nonholonomic Mobile Robots With Obstacles”, IEEE Conference on Decision and Control, 2006.
  17. Tommie Liddy and Tien-Fu Lu, “Waypoint Navigation with Position and Heading Control using Complex Vector Fields for an Ackermann Steering Autonomous Vehicle”, Australasian Conference on Robotics and Automation, 2007.
  18. Tommie Liddy and Tien-Fu Lu, “Waypoint Navigation with Position and Heading Control using Complex Vector Fields for an Ackermann Steering Autonomous Vehicle”, Australasian Conference on Robotics and Automation, 2007.
  19. Tommie Liddy, Tien-Fu Lu, Peter Lozo and David Harvey, “Obstacle Avoidance Using Complex Vector Fields”. Australasian Conference on Robotics and Automation, 2008
  20. Tommie Liddy, Tien-Fu Lu, Peter Lozo and David Harvey, “Obstacle Avoidance Using Complex Vector Fields”. Australasian Conference on Robotics and Automation, 2008
  21. Sani Hashim and Tien-Fu Lu, “A new strategy in dynamic time-dependent motion planning for nonholonomic mobile robots”, 2009 IEEE International Conference on Robotics and Biomimetics, China, 2009.
  22. Sani Hashim and Tien-Fu Lu, “A new strategy in dynamic time-dependent motion planning for nonholonomic mobile robots”, 2009 IEEE International Conference on Robotics and Biomimetics, China, 2009.
Download


Paper Citation


in Harvard Style

Liddy T., Lu T. and Harvey D. (2011). DYNAMIC OBSTACLE AVOIDANCE FOR AN ACKERMAN VEHICLE - A Vector Field Approach . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 93-98. DOI: 10.5220/0003383100930098


in Harvard Style

Liddy T., Lu T. and Harvey D. (2011). DYNAMIC OBSTACLE AVOIDANCE FOR AN ACKERMAN VEHICLE - A Vector Field Approach . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 93-98. DOI: 10.5220/0003383100930098


in Bibtex Style

@conference{icinco11,
author={Tommie Liddy and Tien-Fu Lu and David Harvey},
title={DYNAMIC OBSTACLE AVOIDANCE FOR AN ACKERMAN VEHICLE - A Vector Field Approach},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={93-98},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003383100930098},
isbn={978-989-8425-75-1},
}


in Bibtex Style

@conference{icinco11,
author={Tommie Liddy and Tien-Fu Lu and David Harvey},
title={DYNAMIC OBSTACLE AVOIDANCE FOR AN ACKERMAN VEHICLE - A Vector Field Approach},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={93-98},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003383100930098},
isbn={978-989-8425-75-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - DYNAMIC OBSTACLE AVOIDANCE FOR AN ACKERMAN VEHICLE - A Vector Field Approach
SN - 978-989-8425-75-1
AU - Liddy T.
AU - Lu T.
AU - Harvey D.
PY - 2011
SP - 93
EP - 98
DO - 10.5220/0003383100930098


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - DYNAMIC OBSTACLE AVOIDANCE FOR AN ACKERMAN VEHICLE - A Vector Field Approach
SN - 978-989-8425-75-1
AU - Liddy T.
AU - Lu T.
AU - Harvey D.
PY - 2011
SP - 93
EP - 98
DO - 10.5220/0003383100930098