A mobile robot equipped with an array of sonars is required to navigate to a destination through a planar terrain populated by polygonal obstacles whose locations and shapes are unknown. A navigation method is proposed based on a trapezoidal decomposition of tile terrain for an abstract formulation, where elementary navigational steps consist of following the obstacle edges and turning around the corners. The convergence of an abstract version of the algorithm is first analytically established. Then experimental results on implementing the algorithm on an experimental mobile robot are reported.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Unknown-terrains navigation of a mobile robot using an array of sonars


    Beteiligte:
    N. S. V. Rao (Autor:in)

    Erscheinungsdatum :

    1994


    Format / Umfang :

    9 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




    Unknown-Terrains Navigation of a Mobile Robot using an Array of Sonars

    Rao, N. S. V. | British Library Conference Proceedings | 1994


    Multiple-Target Tracking for Towed Array Sonars

    Brinkmann, K. / Grenzebach, C. / Bogner, T. | British Library Conference Proceedings | 2013


    Comparing Ahead-Look Sonars

    Loggins, C. D. | British Library Online Contents | 1995


    Car-like mobile robot navigation in unknown urban areas

    Brahimi, Somia / Tiar, Rachid / Azouaoui, Ouahiba et al. | IEEE | 2016