Microprocessor-based control of autonomous mobile robots with obstacle avoidance
Resource
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Journal
Decision and Control
Pages
-
Date Issued
1991-12
Date
1991-12
Author(s)
Lee, Pei-Chien
DOI
N/A
Abstract
A real-time obstacle avoidance algorithm for autonomous mobile robots is developed. The algorithm is sensor-based and consists of a heuristic mode (H-mode) and a track mode (T-mode). The algorithm was then implemented on the NTU II mobile robot, which was fabricated with microprocessor-based control. It is shown that the algorithm is more efficient and more robust than other sensor-based algorithms. In addition, the algorithm can guarantee a solution for the obstacle avoidance problem. Since the algorithm only takes up a small amount of computational time, it can be implemented in real time.
Type
journal article
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