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

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

doi:10.1109/ARGENCON.2018.8646065

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 proceeding › Conference contribution

Abstract

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 language	Spanish
Title of host publication	2018 IEEE Biennial Congress of Argentina (ARGENCON)
Publisher	Institute of Electrical and Electronics Engineers
Number of pages	8
ISBN (Electronic)	978-1-5386-5032-5
ISBN (Print)	978-1-5386-5033-2
DOIs	https://doi.org/10.1109/ARGENCON.2018.8646065
Publication status	Published - 21 Feb 2019
Event	2018 IEEE Biennial Congress of Argentina (ARGENCON) - San Miguel de Tucuman, Argentina Duration: 6 Jun 2018 → 8 Jun 2018

Conference

Conference	2018 IEEE Biennial Congress of Argentina (ARGENCON)
Abbreviated title	ARGENCON 2018
Country/Territory	Argentina
City	San Miguel de Tucuman
Period	6/06/18 → 8/06/18

Access to Document

10.1109/ARGENCON.2018.8646065Licence: All Rights Reserved

https://ieeexplore.ieee.org/document/8646065Licence: All Rights Reserved

Cite this

@inproceedings{c9ff98b169fd45be943017b54826269f,

title = "An obstacle avoidance system for mobile robotics based on the virtual force field method",

abstract = "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{\textregistered}, using its front facing sonars for sensing its environment.",

author = "Agust{\'i}n Gianibelli and Ignacio Carlucho and Paula, {Mariano De} and Acosta, {Gerardo G.}",

year = "2019",

month = feb,

day = "21",

doi = "10.1109/ARGENCON.2018.8646065",

language = "Spanish",

isbn = "978-1-5386-5033-2",

booktitle = "2018 IEEE Biennial Congress of Argentina (ARGENCON)",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "2018 IEEE Biennial Congress of Argentina (ARGENCON) ; Conference date: 06-06-2018 Through 08-06-2018",

}

Gianibelli, A, Carlucho, I, Paula, MD & Acosta, GG 2019, An obstacle avoidance system for mobile robotics based on the virtual force field method. in 2018 IEEE Biennial Congress of Argentina (ARGENCON). Institute of Electrical and Electronics Engineers, 2018 IEEE Biennial Congress of Argentina (ARGENCON), San Miguel de Tucuman, Argentina, 6/06/18. https://doi.org/10.1109/ARGENCON.2018.8646065

TY - GEN

T1 - An obstacle avoidance system for mobile robotics based on the virtual force field method

AU - Gianibelli, Agustín

AU - Carlucho, Ignacio

AU - Paula, Mariano De

AU - Acosta, Gerardo G.

PY - 2019/2/21

Y1 - 2019/2/21

N2 - 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.

AB - 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.

U2 - 10.1109/ARGENCON.2018.8646065

DO - 10.1109/ARGENCON.2018.8646065

M3 - Conference contribution

SN - 978-1-5386-5033-2

BT - 2018 IEEE Biennial Congress of Argentina (ARGENCON)

PB - Institute of Electrical and Electronics Engineers

T2 - 2018 IEEE Biennial Congress of Argentina (ARGENCON)

Y2 - 6 June 2018 through 8 June 2018

ER -