Obstacle Detection and Traversal with Noisy Range Sensors

The problem of obstacle detection and avoidance for wheeled mobile rovers with noisy ultrasound range sensors is discussed. We propose a path planning algorithm, split into detection and traversal behaviors, which overcome the problems associated with noisy range sensors. Said methods first monitor and verify perceived objects then gerate appropriate control inputs. A robust detection scheme affords accurate object recognition which lends itself to smoother and quicker traversal. We provide examples of various obstacle encounters and traversal scenarios using high fidelity simulations built in the ROS and Gazebo environments. We aim to analyze the influence of monitoring and verifying sonar detections as well as evaluate new path planning techniques.