Autonomous Motion of a Mobile Robot based on Potential Fields and Polar Control

Jose Maria Munoz, Emanuel Munoz-Panduro, Oscar E. Ramos

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

3 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaProceedings of the 2018 IEEE 25th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781538654903
DOI
EstadoPublicada - 6 nov. 2018
Evento25th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018 - Lima, Perú
Duración: 8 ago. 201810 ago. 2018

Serie de la publicación

NombreProceedings of the 2018 IEEE 25th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018

Conferencia

Conferencia25th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018
País/TerritorioPerú
CiudadLima
Período8/08/1810/08/18

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