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Authors: Andre Ferreira ; Mario Sarcinelli Filho and Teodiano Freire Bastos Filho

Affiliation: Federal University of Espirito Santo, Brazil

Keyword(s): Mobile robots, Robot control, Obstacle avoidance, Impedance-based control, Tangential escape.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: This paper proposes a new strategy for obstacle deviation when a mobile robot is navigating in a semi-structured environment. The proposed control architecture is based on a reactive approach, thus demanding low computational effort. It allows the robot to navigate from a starting point to a destination point without colliding to any obstacle in its path. The deviation from an obstacle is performed according to an escape angle calculated so that the new robot orientation is tangent to the obstacle. It is shown that such strategy generates more efficient trajectories, in the sense that the destination point is reached in less time while saving energy and reducing the demand on the robot motors. Another meaningful feature of the proposed strategy is that it also allows to implement the behaviors Wall Following and Corridor Following with no additional computation.

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Paper citation in several formats:
Ferreira, A.; Sarcinelli Filho, M. and Freire Bastos Filho, T. (2005). A NEW APPROACH TO AVOID OBSTACLES IN MOBILE ROBOT NAVIGATION: TANGENTIAL ESCAPE. In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 972-8865-30-9; ISSN 2184-2809, SciTePress, pages 341-346. DOI: 10.5220/0001169403410346

@conference{icinco05,
author={Andre Ferreira. and Mario {Sarcinelli Filho}. and Teodiano {Freire Bastos Filho}.},
title={A NEW APPROACH TO AVOID OBSTACLES IN MOBILE ROBOT NAVIGATION: TANGENTIAL ESCAPE},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2005},
pages={341-346},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001169403410346},
isbn={972-8865-30-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - A NEW APPROACH TO AVOID OBSTACLES IN MOBILE ROBOT NAVIGATION: TANGENTIAL ESCAPE
SN - 972-8865-30-9
IS - 2184-2809
AU - Ferreira, A.
AU - Sarcinelli Filho, M.
AU - Freire Bastos Filho, T.
PY - 2005
SP - 341
EP - 346
DO - 10.5220/0001169403410346
PB - SciTePress

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