Robot Navigation using Velocity Potential Fields and Particle Filters for Obstacle Avoidance

Dan-Sorin Necsulescu, Jin Bai, Jurek Sasiadek

2015

Abstract

Autonomous robots are required to avoid the obstacles during navigation. For this purpose unknown and unexpected obstacles have to be detected during motion. The proposed approach uses particle filters to process sensors data and estimate relative position of the robot with regard to the obstacles and to the goal. These relative position estimations are inputs to the velocity potential field approach for obtaining time varying velocity commands for the robot to avoid all obstacles and reach the goal.

References

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Paper Citation


in Harvard Style

Necsulescu D., Bai J. and Sasiadek J. (2015). Robot Navigation using Velocity Potential Fields and Particle Filters for Obstacle Avoidance . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-122-9, pages 43-48. DOI: 10.5220/0005501400430048


in Bibtex Style

@conference{icinco15,
author={Dan-Sorin Necsulescu and Jin Bai and Jurek Sasiadek},
title={Robot Navigation using Velocity Potential Fields and Particle Filters for Obstacle Avoidance},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2015},
pages={43-48},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005501400430048},
isbn={978-989-758-122-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Robot Navigation using Velocity Potential Fields and Particle Filters for Obstacle Avoidance
SN - 978-989-758-122-9
AU - Necsulescu D.
AU - Bai J.
AU - Sasiadek J.
PY - 2015
SP - 43
EP - 48
DO - 10.5220/0005501400430048