Home   >   CSC-OpenAccess Library   >    Manuscript Information
Novel Navigation Strategy Study on Autonomous Mobile Robots
Peng Jia, Yumei Huang, Feng Gao, Yan Li
Pages - 57 - 68     |    Revised - 30-11-2010     |    Published - 20-12-2010
Volume - 1   Issue - 4    |    Publication Date - December 2010  Table of Contents
MORE INFORMATION
KEYWORDS
Behaviour-based navigation, mobile robot, kinematics model
ABSTRACT
Potential field method bas been widely used in obstacle avoidance for mobile robots because of its elegance and simplicity. However, this method has inherent drawbacks. Considering this, this paper introduces a new behaviour-based navigation strategy. Aiming at a mobile robot SDLG-1 developed by the authors, the kinematics model is built based on its motion structure. Using twelve sonar sensors, the strategy algorithm of behaviour-based navigation control is brought forth. Based on the algorithm, software simulations and experimental evaluations have been conducted. Both results indicate the navigation strategy proposed in this paper is effective.
1 Google Scholar 
2 CiteSeerX 
3 Scribd 
4 SlideShare 
5 PdfSR 
B.H. Krogh, C. Thorpe, “Integrated path planning and dynamics steering control for autonomous vehicles,” Proceedings of the 1986 IEEE International Conference on Robotics and Automation, SFO, California, 1986, 1664-1669.
C. Thorpe, A. Stentz, S. Shafer, “An architecture for autonomous vehicle navigation,”Computers in Aerospace Conference, 5th Long Beack, CA, 1985, 22-27
D.R. Parhi, M.K. Singh, “Intelligent fuzzy interface technique for the control of an autonomous mobile robot,” Proc. IMechE Vol. 222 Part C: J. Mechanical Engineering Science, 2008,2281-2292.
G. Antonelli, S. Chiaverini, G. Fusco, “A calibration method for odometry of mobile robots based on the least-squares technique”: Theory and experimental validation, 2005, 21:994-1004.
Hongbo Wang and takakazu Ishimatsu, “Vision-based Navigation for an Electric Wheelchair Using Ceiling Light Landmark “.Journal of Intelligent and Robotic Systems, 2005. 41: 283-314
Hongbo Wang, Chaochao Chen and Zhen Huang Ultrasonic Sensor Based Fuzzy-neural“Control Algorithm of Obstacle Avoidance for Mobile Robot,Lecture Notes in Computer Science,Springer-Verlag Berlin Heidelberg”, 4491( 1): 824–833
Hongbo Wang, Ke Yu and Hongnian Yu, “Mobile Robot Localisation Using ZigBee Wireless Sensor Networks and a Vision Sensor”, International Journal of Modelling, Identification and Control,10(3/4):184-193,2010.
J. Borenstein, Y. Koren, “Real-time obstacle avoidance for fast mobile robots”, IEEE Transactions on Systems, Man, and Cybernetics, 1989, 1179-1187.
J. R., Andrews, N., Hogan, ‘Impedance control as a framework for implementing obstacle avoidance in a manipulator, Control of Manufacturing Process and Robotic Systems,” ASME,Boston, 1983, 343-351.
J.M.M. Tur, J.L. Gordillo, C.A. Borja, A closed-form expression for the uncertainty in odometry position estimate of an autonomous vehicle, IEEE Transactions on Robotics, 2005, Vol. 21,1017-1022.
Joseph L. Jones, Daniel Roth,” Robot programming: a Practical Guide to Behaviour-Based Robotics”, 2004, McGraw-Hill.
O., Khatib, “Real-time obstacle avoidance for manipulators and mobile robots,” IEEE International Conference on Robotics and Automation, St. Louis, Missouri, 1990, 500-505.
P. Coelho, U. Nunes, “Path-following control of mobile robots in presence of uncertainties,”IEEE Transactions Robotics, 2005, 21:252-261.
R.A. Brooks, “A robust layered control system for a mobile robot,” IEEE Journal of Robotics and Automation, Vlo.RA-2, 1986, 14-23.
R.C. Arkin, “Motor schema-based mobile robot navigation”, The International Journal of Robotics Research, 1989, 92-112.
Y. Koren, J. Borenstein,” Potential field methods and their inherent limitations for mibilt robot navigation,” Proceedings of the IEEE Conference on Robotics and Automation, Sacramento,California, 1991, 1398-1404.
Associate Professor Peng Jia
Shandong University of Technology - China
pengjia_sdut@126.com
Professor Yumei Huang
Xi an University of Technology - China
Mr. Feng Gao
- China
Mr. Yan Li
- China


CREATE AUTHOR ACCOUNT
 
LAUNCH YOUR SPECIAL ISSUE
View all special issues >>
 
PUBLICATION VIDEOS