A Method for Combining Odometry and Distance Sensor Information for Effective Obstacle Avoidance of Autonomous Mobile Robots
A Method for Combining Odometry and Distance Sensor Information for Effective Obstacle Avoidance of Autonomous Mobile Robots
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DOI：
10.1007/s12555-010-0312-7
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发表时间：
2010-06-01
影响因子：
3.2
通讯作者：
Son, Jung Eun
中科院分区：
文献类型：
--
作者：
Seo, Dong Jin;Ko, Nak Yong;Son, Jung Eun
在本文中，虚拟传感器的概念，提出了有效地避免障碍物的机器人在运动过程中。虚拟传感器通过组合编码器值和真实的距离数据来产生新的数据，并且导出包括机器人的移动性的新的传感器数据。在Windows XP上进行了仿真，以虚拟和实际传感器的实际获取距离来说明所提出的方法。为了便于与本文中开发的替代结果进行比较，我们参考了使用实际距离的传统人工势场方法。来自虚拟传感器的数据显示，在障碍物和机器人移动性方面，避障轨迹中的运动更平稳，更安全。
In this paper, a concept for virtual sensors is proposed for efficient avoidance of obstacles during the motion of robots. The virtual sensor yields new data by combining encoder values and real distance data, and derives new sensor data that includes the mobility of the robot. Simulation on Windows XP is executed to illustrate the proposed approach with actually acquired distance from virtual and actual sensors. To facilitate comparison with the alternative results developed in this paper, we refer to the conventional artificial potential field method using actual distance. Data from virtual sensors show smoother and safer motion in obstacle avoidance traces in regards to obstacle and robot mobility.