An obstacle avoidance system for mobile robotics based on the virtual force field method

Agustín Gianibelli, Ignacio Carlucho, Mariano De Paula, Gerardo G. Acosta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

A basic task an autonomous mobile vehicle must perform in any environment is moving from its current position to a desired position. In order to do so, a capacity to avoid obstacles should be present. However, sensors introduce measurement errors that increase the uncertainty regarding the robot current state. In this work, an obstacle avoidance algorithm based on the methodology of the field of virtual forces for path planning will be implemented. This algorithm is based on a heuristic optimization of the balance between two design objectives: the fast convergence to the objective position and navigation free of collisions. The obstacle avoidance system will be tested on a mobile robot, the Pioneer 3at®, using its front facing sonars for sensing its environment.
Original languageSpanish
Title of host publication2018 IEEE Biennial Congress of Argentina (ARGENCON)
PublisherIEEE
Number of pages8
ISBN (Electronic)978-1-5386-5032-5
ISBN (Print)978-1-5386-5033-2
DOIs
Publication statusPublished - 21 Feb 2019
Event2018 IEEE Biennial Congress of Argentina (ARGENCON) - San Miguel de Tucuman, Argentina
Duration: 6 Jun 20188 Jun 2018

Conference

Conference2018 IEEE Biennial Congress of Argentina (ARGENCON)
Abbreviated titleARGENCON 2018
Country/TerritoryArgentina
CitySan Miguel de Tucuman
Period6/06/188/06/18

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