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Environment exploration using a navigation algorithm based on virtual centrifugal force

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4 Author(s)
Liying Su ; Sch. of Mech. Eng. & Appl. Electron. Eng., Beijing Univ. of Technol., China ; Yueqing Yu ; Min Tan ; Guoping Liu

Environment exploration and map-building are fundamental robotic application researches. An appropriate navigation algorithm can facilitate robots to map the environment within shorter time. A real-time navigation algorithm based on virtual centrifugal force is proposed in this paper for a robot to implement on-line exploration of an unknown environment in real time, and collision between a robot and an obstacle can be avoided with the VCF algorithm. The wall-following strategy is one of the special cases of the proposed algorithm when the robot approaches an obstacle. Simulation experiments are implemented to verify the effectivity of the proposed algorithm.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:5 )

Date of Conference:

26 April-1 May 2004