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ELA+: Goal-oriented navigation with obstacle avoidance for rescue robots

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3 Author(s)
Hae Kwan Jeong ; Sch. of Mech., Aerosp. & Syst. Eng., Korea Adv. Inst. of Sci. & Technol., Daejeon ; Kyung Hak Hyun ; Kwak, Yoon Keun

This paper describes development and demonstration of an obstacle avoidance algorithm termed ELA+ that is adaptable to rescue robots. ELA+ consists of two routines; one related to goal-oriented intention and the other to standing rotation for steering. In ELA+, autonomous navigation based on ELA (emergency level around) proceeds until a goal is reached, and goal-oriented navigation with ELA then follows. It was assumed that the tested scenario was similar to an actual disaster situation, and ELA+ was shown to be able to avoid obstacles located in a 2D virtual space. Simulation results show that ELA+ is able to guide a robot successfully to a goal using only bearing information, even when the distance to the goal and the localization are not prepared.

Published in:

Autonomous Robots and Agents, 2009. ICARA 2009. 4th International Conference on

Date of Conference:

10-12 Feb. 2009

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