Artículo
Autonomous navigation with deadlock detection and avoidance
Fecha de publicación:
02/2014
Editorial:
Sociedad Iberoamericana de Inteligencia Artificial
Revista:
Inteligencia Artificial
ISSN:
1137-3601
e-ISSN:
1988-3064
Idioma:
Inglés
Tipo de recurso:
Artículo publicado
Clasificación temática:
Resumen
This paper studies alternatives to solve the problem of autonomous mobile robots navigation in unknown indoor environments. The navigation system uses fuzzy logic to combine the information obtained from range sensors and the navigational data to plan the robot’s movements. The strategy is built upon five modules: i) target following, ii) obstacle avoidance, iii) possible path, iv) deadlock detection and v) wall following. Given a possible path and obstacles near the environment of the robot, the controller will modulate the output velocity in order to go to the target and avoid collisions. In case of dead lock situations, a method that enables the robot to detect, escape and reach the target is proposed. The performance and behavior of the proposed navigational system was evaluated through simulations in different conditions, where the effectiveness of the proposed method is demonstrated and compared with previous results.
Palabras clave:
Autonomous Navigation
,
Deadlock Detection
,
Fuzzy Logic
,
Signal Processing
Archivos asociados
Licencia
Identificadores
Colecciones
Articulos(CCT - SANTA FE)
Articulos de CTRO.CIENTIFICO TECNOL.CONICET - SANTA FE
Articulos de CTRO.CIENTIFICO TECNOL.CONICET - SANTA FE
Citación
Giovanini, Leonardo Luis; Sanchez, Guido Marcelo; Autonomous navigation with deadlock detection and avoidance; Sociedad Iberoamericana de Inteligencia Artificial; Inteligencia Artificial; 17; 53; 2-2014; 13-23
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