Autonomous navigation with deadlock detection and avoidance
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| Format: | Artículo científico |
| Language: | en |
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Asociación Española para la Inteligencia Artificial
2014
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| _version_ | 1876435756179783680 |
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| author | Guido M. Sanchez |
| author_facet | Guido M. Sanchez |
| contents | Autonomous navigation with deadlock detection and avoidance Guido M. Sanchez Leonardo Giovanini Ingeniería fuzzy logic deadlock detection Autonomous navigation This paper studies alternatives to solve the problem of autonomous mobile robots navigation in unknown indoor environments. The navigation system uses fuzzy logic to combine the information obtained from range sensors and the navigational data to plan the robot's movements. The strategy is built upon five modules: i) target following, ii) obstacle avoidance, iii) possible path, iv) deadlock detection and v) wall following. Given a possible path and obstacles near the environment of the robot, the controller will modulate the output velocity in order to go to the target and avoid collisions. In case of dead lock situations, a method that enables the robot to detect, escape and reach the target is proposed. The performance and behavior of the proposed navigational system was evaluated through simulations in different conditions, where the effectiveness of the proposed method is demonstrated and compared with previous results. 2014 artículo científico 1137-3601 https://www.redalyc.org/articulo.oa?id=92530455003 en http://www.redalyc.org/revista.oa?id=925 Inteligencia Artificial. Revista Iberoamericana de Inteligencia Artificial application/pdf Asociación Española para la Inteligencia Artificial Inteligencia Artificial. Revista Iberoamericana de Inteligencia Artificial (España) Num.53 Vol.17 |
| format | Artículo científico |
| id | redalyc_92530455003 |
| institution | Redalyc |
| language | en |
| publishDate | 2014 |
| publisher | Asociación Española para la Inteligencia Artificial |
| spellingShingle | Autonomous navigation with deadlock detection and avoidance Guido M. Sanchez Ingeniería fuzzy logic deadlock detection Autonomous navigation Autonomous navigation with deadlock detection and avoidance Guido M. Sanchez Leonardo Giovanini Ingeniería fuzzy logic deadlock detection Autonomous navigation This paper studies alternatives to solve the problem of autonomous mobile robots navigation in unknown indoor environments. The navigation system uses fuzzy logic to combine the information obtained from range sensors and the navigational data to plan the robot's movements. The strategy is built upon five modules: i) target following, ii) obstacle avoidance, iii) possible path, iv) deadlock detection and v) wall following. Given a possible path and obstacles near the environment of the robot, the controller will modulate the output velocity in order to go to the target and avoid collisions. In case of dead lock situations, a method that enables the robot to detect, escape and reach the target is proposed. The performance and behavior of the proposed navigational system was evaluated through simulations in different conditions, where the effectiveness of the proposed method is demonstrated and compared with previous results. 2014 artículo científico 1137-3601 https://www.redalyc.org/articulo.oa?id=92530455003 en http://www.redalyc.org/revista.oa?id=925 Inteligencia Artificial. Revista Iberoamericana de Inteligencia Artificial application/pdf Asociación Española para la Inteligencia Artificial Inteligencia Artificial. Revista Iberoamericana de Inteligencia Artificial (España) Num.53 Vol.17 |
| title | Autonomous navigation with deadlock detection and avoidance |
| topic | Ingeniería fuzzy logic deadlock detection Autonomous navigation |
| url | https://www.redalyc.org/articulo.oa?id=92530455003 |