Navigation Algorithm for Mobile Robots Using Information of Target Direction

Motoji Yamamoto, Nobuhiro Ushimi, Akira Mohri

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

This paper proposes a sensor-based navigation algorithm for mobile robots using information of target direction. The mobile robot moves from an initial position to a desired target position in obstructed environment by the navigation algorithm, where the robot does not know positions and shapes of obstacles, but only knows local information on obstacle’s wall and target direction by it’s sensor. The algorithm uses target direction instead of robot’s position information which is used in other sensor-based navigation algorithm. This navigation method has robustness on the measurement error of target direction, while other navigation algorithms may not be able to work if the robot’s position has measurement error. The main point of the algorithm is using the rotational angle of the robot based on topological characteristic of obstacles. Some simulations using the sensor-based navigation algorithm show an effectiveness by comparison of the proposed method and a conventional position based algorithm. Experimental navigation system using the proposed algorithm is developed for confirming the validity of the simulation study.

Original languageEnglish
Pages (from-to)1013-1020
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume65
Issue number631
DOIs
Publication statusPublished - Jan 1 1999

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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