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This paper presents a local/global frames switching in outdoor navigation of a four-wheeled mobile robot in an obstructed environment. Two laser range finders are equipped on the mobile robot in order to perform sensor-based obstacle avoidance without any a priori knowledge about its environment. Also, a GPS is mounted on the top of the robot so that the absolute location and the heading angle of...
This paper presents a trajectory planning strategy of a four-wheeled mobile robot in an obstructed environment. Two 2-dimensional laser ranger finders are equipped on the mobile robot in order to perform sensor-based planning without any a priori knowledge about its environment. The potential field method is utilized to create force fields around obstacles and a goal. Look-ahead control is adopted...
This paper presents a remotely teleoperated vehicle such as mobile robot using haptic device. The teleoperation system is based on the Potential Field method especially for detecting the presence of obstacles. A feedback linerization scheme is employed to render the mobile robot to be a passive system. As the interaction with the obstacle based on the potential field method is passive by nature, with...
This paper presents a trajectory planning strategy of a wheeled mobile robot in an obstructed environment. In order to sense its surrounding environment, the mobile robot is assumed to be equipped with a laser range finder. The potential field method is utilized to create force fields around obstacles and a goal. Look-ahead control is adopted to steer the mobile robot in which a reference point located...
Our path planner is divided into two phases: First, let the robot study its maneuvering environment before giving a task, and then based on the studied map the robot is able to generate a safe and smooth path to its desired goal by using our potential field based collision avoidance algorithm. The environment exploration is done by adopting reduced generalized Voronoi graph which creates a topological...
We developed an embedded vision system that can accelerate the basic image processing functions for mobile robot navigation with compact hardware featuring low power consumption. The system is composed of a digital signal processor (DSP) and a dedicated LSI for low-level image processing, specifically for spatial filtering, feature extraction, and block matching operations. The image processing LSI...
This paper presents a path planner for the design of autonomous vehicles such as mobile robots. The path planner is based on the potential field method. Through the Hough transformation the obstacle detection is accomplished by laser scanner which returns a two dimensional profile of the horizontal region in front of the robot. The local minima problem has been solved by redefining the repulsive potential...
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