TY - GEN
T1 - Autonomous Motion of a Mobile Robot based on Potential Fields and Polar Control
AU - Munoz, Jose Maria
AU - Munoz-Panduro, Emanuel
AU - Ramos, Oscar E.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/11/6
Y1 - 2018/11/6
N2 - Autonomous motion of mobile robots is an open problem in robotics. Challenges in this regard involve the proper interpretation of the information coming from the sensors, and the adequate motion of the robot based on that information to reach a goal without collisions. In this work, we propose a framework that smoothly drives a mobile robot through a collision-free trajectory. The generation of trajectories is based on motion planning using Artificial Potential Fields and the sensed depth information from the environment. The generated path is then followed by an iterative closed-loop feedback controller based on polar coordinates which is guided by the potential field. With this framework the robot can autonomously move to a desired goal avoiding obstacles online. The framework continuously plans its trajectory, being able to avoid obstacles online. Results were obtained using a dynamic simulator and a differential-drive mobile robot that uses an onboard Lidar.
AB - Autonomous motion of mobile robots is an open problem in robotics. Challenges in this regard involve the proper interpretation of the information coming from the sensors, and the adequate motion of the robot based on that information to reach a goal without collisions. In this work, we propose a framework that smoothly drives a mobile robot through a collision-free trajectory. The generation of trajectories is based on motion planning using Artificial Potential Fields and the sensed depth information from the environment. The generated path is then followed by an iterative closed-loop feedback controller based on polar coordinates which is guided by the potential field. With this framework the robot can autonomously move to a desired goal avoiding obstacles online. The framework continuously plans its trajectory, being able to avoid obstacles online. Results were obtained using a dynamic simulator and a differential-drive mobile robot that uses an onboard Lidar.
UR - http://www.scopus.com/inward/record.url?scp=85058003594&partnerID=8YFLogxK
U2 - 10.1109/INTERCON.2018.8526462
DO - 10.1109/INTERCON.2018.8526462
M3 - Conference contribution
AN - SCOPUS:85058003594
T3 - Proceedings of the 2018 IEEE 25th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018
BT - Proceedings of the 2018 IEEE 25th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 25th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018
Y2 - 8 August 2018 through 10 August 2018
ER -