Obstacle avoidance and motion control for mobile robots

El-Sayed H. El-Konyaly; Yehia M. Enab; El-Sayed M. Abdel-Kareem

doi:10.1117/12.198967

9 January 1995 Obstacle avoidance and motion control for mobile robots

El-Sayed H. El-Konyaly, Yehia M. Enab, El-Sayed M. Abdel-Kareem

Proceedings Volume 2352, Mobile Robots IX; (1995) https://doi.org/10.1117/12.198967
Event: Photonics for Industrial Applications, 1994, Boston, MA, United States

Abstract

Autonomous mobile robot is an intelligent machine that is capable of navigating in an obstacle- cluttered environment without collision and without human intervention. The robot uses information provided by its sensors to build a map using graph or grid representation. In this paper the environment is spatial and temporally varying. To find a safe path among obstacles, a map must be created and updated each time an obstacle is encountered. We present an algorithmic work based on virtual force field concept for obstacle detection and avoidance. As a result a collision free path between a start point and a goal position through a flat 2D environment is obtained. The obstacle avoidance technique generates a sequence of speed and steering commands for a vehicle with two front wheels separately driven using two dc motors. A new cross coupled computer control scheme for the two drive motors of the vehicle wheels is proposed. The continuous motion of the vehicle is executed using this control scheme. The new control scheme accounts for drives mismatch. Extensive simulation results are conducted to illustrate the useful aspects of the proposed integrated system.

Citation Download Citation

El-Sayed H. El-Konyaly, Yehia M. Enab, and El-Sayed M. Abdel-Kareem "Obstacle avoidance and motion control for mobile robots", Proc. SPIE 2352, Mobile Robots IX, (9 January 1995); https://doi.org/10.1117/12.198967

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available