Cart (Loading....) | Create Account
Close category search window
 

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

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

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

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.