TY - GEN
T1 - Efficient wall-corner collision avoidance using D-images
AU - Fu, Guohe
AU - Zhang, Xinyu
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/1
Y1 - 2016/9/1
N2 - When an autonomous mobile robot exploring in an unstructured environment, it may often enter a wall-corner, but be stuck there. We present a wall-corner collision detection and avoidance algorithm using depth images. We first determine if a mobile robot is trapped in a wall-corner using historic alternate turnings. Then we propose a geometric approach to let the robot escape a corner. We demonstrate the efficiency of our algorithm using simulations and experimental tests. Using our algorithm, a robot can quickly detect and escape wall-corners. Moreover, we extend our algorithm to handle a very challenging scenario, Z-shaped Zigzag paths.
AB - When an autonomous mobile robot exploring in an unstructured environment, it may often enter a wall-corner, but be stuck there. We present a wall-corner collision detection and avoidance algorithm using depth images. We first determine if a mobile robot is trapped in a wall-corner using historic alternate turnings. Then we propose a geometric approach to let the robot escape a corner. We demonstrate the efficiency of our algorithm using simulations and experimental tests. Using our algorithm, a robot can quickly detect and escape wall-corners. Moreover, we extend our algorithm to handle a very challenging scenario, Z-shaped Zigzag paths.
UR - https://www.scopus.com/pages/publications/84991221818
U2 - 10.1109/ICMA.2016.7558707
DO - 10.1109/ICMA.2016.7558707
M3 - 会议稿件
AN - SCOPUS:84991221818
T3 - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
SP - 1048
EP - 1053
BT - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
Y2 - 7 August 2016 through 10 August 2016
ER -