Virtual force field based obstacle avoidance and agent based intelligent mobile robot

Saurabh Sarkar; Scott Reynolds; Ernest Hall

doi:10.1117/12.734691

10 September 2007 Virtual force field based obstacle avoidance and agent based intelligent mobile robot

Saurabh Sarkar, Scott Reynolds, Ernest Hall

Proceedings Volume 6764, Intelligent Robots and Computer Vision XXV: Algorithms, Techniques, and Active Vision; 67640R (2007) https://doi.org/10.1117/12.734691
Event: Optics East, 2007, Boston, MA, United States

Abstract

This paper presents a modified virtual force based obstacle avoidance approach suited for laser range finder. The modified method takes advantage of the polar coordinate based data sent by the laser sensor by mapping the environment in a polar coordinate system. The method also utilizes a Gaussian function based certainty values to detect obstacle. The method successfully navigates through complex obstacles and reaches target GPS waypoints.

Citation Download Citation

Saurabh Sarkar, Scott Reynolds, and Ernest Hall "Virtual force field based obstacle avoidance and agent based intelligent mobile robot", Proc. SPIE 6764, Intelligent Robots and Computer Vision XXV: Algorithms, Techniques, and Active Vision, 67640R (10 September 2007); https://doi.org/10.1117/12.734691

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