Design and simulation of autonomous mobile robots obstacle avoidance system

Abderrezak Chelghoum*, Quanyu Wang, Kang Wang

*此作品的通讯作者

科研成果: 书/报告/会议事项章节章节同行评审

摘要

Autonomous mobile robot is a completely unknown or partially unknown, of its complex environment, which requires the ability to avoid obstacles in order to move safely and avoid the collisions while navigating. To solve this problem, it opted to propose an obstacle avoidance algorithm and implement it as a Decentralized Software Services (DSS) service that uses and combines multiple of sonar and infrared (IR) sensors to detect obstacles including the corner form obstacles, glass obstacles … etc. The obstacle avoidance process is divided into two parts or states, the open state, in which the obstacles are detected, and the obstacles avoidance state in which obstacles are avoided. The obtained results demonstrate the success of the proposed algorithm in which the risk, of collisions, is excluded because the proposed solution controls, automatically, the robot speed and takes into consideration the robot width and the security distance while driving, detecting and avoiding obstacles.

源语言英语
主期刊名Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
出版商Springer Verlag
165-180
页数16
DOI
出版状态已出版 - 2017

出版系列

姓名Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
10092
ISSN(印刷版)0302-9743
ISSN(电子版)1611-3349

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引用此

Chelghoum, A., Wang, Q., & Wang, K. (2017). Design and simulation of autonomous mobile robots obstacle avoidance system. 在 Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (页码 165-180). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); 卷 10092). Springer Verlag. https://doi.org/10.1007/978-3-662-54395-5_15