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Laserradar and sonar based world modeling and motion control for fast obstacle avoidance of the autonomous mobile robot MOBOT-IV

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3 Author(s)
Buchberger, M. ; Dept. of Comput. Sci., Kaierslautern Univ., Germany ; Jorg, K.-W. ; von Puttkamer, E.

The obstacle avoidance mechanism of MOBOT-IV, which serves as a test platform within the scope of a research project on autonomous mobile robots for indoor applications is described. The mechanism utilizes heterogeneous information obtained from a laser radar and a sonar sensor system in order to achieve a reliable and complete world model for real-time collision avoidance. This world model is transformed by a motion control component into a virtual position deviation to perform obstacle avoidance by using a track-control algorithm

Published in:

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date of Conference:

2-6 May 1993