Sensor-based navigation of a car-like robot based on Bug family algorithms
- Title
- Sensor-based navigation of a car-like robot based on Bug family algorithms
- Author
- 신규식
- Keywords
- Autonomous navigation; Bug algorithm; Car-like robot; Nonholonomic constraint; Pure pursuit
- Issue Date
- 2013-06
- Publisher
- SAGE PUBLICATIONS LTD
- Citation
- PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, v. 227, NO. 6, Page. 1224-1241
- Abstract
- This article presents a sensor-based navigation algorithm for 3-degree-of-freedom car-like robots with a nonholonomic constraint. Similar to the classical Bug family algorithms, the proposed algorithm enables the car-like robot to navigate in a completely unknown environment by only using range sensor information. The car-like robot uses the local range sensor view to determine the local path so that it moves toward the goal. To guarantee that the car-like robot can approach the goal, the two modes of motion are repeated, termed as motion-to-goal and wall-following. The motion-to-goal behavior lets the robot directly move toward the goal and the wall-following behavior makes the car-like robot circumnavigate the obstacle boundary until it meets the leaving condition. For each behavior, the nonholonomic motion for the car-like robot is planned in terms of the turning radius at each step. The proposed algorithm is implemented with a real robot and the experimental results show the performance of the proposed algorithm.
- URI
- https://journals.sagepub.com/doi/10.1177/0954406212458202https://repository.hanyang.ac.kr/handle/20.500.11754/183839
- ISSN
- 0954-4062;2041-2983
- DOI
- 10.1177/0954406212458202
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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