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. ; Fil: Sanchez, Guido Marcelo. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional. Universidad Nacional del Litoral. Facultad de Ingeniería y Ciencias Hídricas. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional; Argentina ; Fil: Giovanini, Leonardo Luis. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional. Universidad Nacional del Litoral. Facultad de Ingeniería y Ciencias Hídricas. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional; Argentina


    Access

    Download


    Export, share and cite



    Title :

    Autonomous navigation with deadlock detection and avoidance



    Remarks:

    CONICET


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629






    Deadlock Avoidance and Detection in Railway Simulation Systems

    Simon, Bertrand / Jaumard, Brigitte / Le, Thai Hoa | Transportation Research Record | 2014


    Autonomous Navigation and Obstacle Avoidance

    Berger, Jesse / Carson, Cory / Towhidnejad, Massood et al. | AIAA | 2009


    JRC2014-3864 Deadlock Avoidance and Detection in Railway Simulation Systems

    Simon, B. / Jaumard, B. / Le, T.H. et al. | British Library Conference Proceedings | 2014