A Navigation Algorithm for Avoidance of Moving and Stationary Obstacles for Mobile Robot Masaaki TOMITA*3 and Motoji YAMAMOTO Department of Production

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Transcription:

A Navigation Algorithm for Avoidance of Moving and Stationary Obstacles for Mobile Robot Masaaki TOMITA*3 and Motoji YAMAMOTO Department of Production System Engineering, Kyushu Polytecnic College, 1665-1 Shii, Kokura Minami-ku, Kitakyushu-shi, Fukuoka, 802-0985 Japan Conventional sensor-based navigation algorithms for mobile robot such as Tangent Bug algorithm work only for stationary obstacles. When a mobile robot is operated in more general unknown environment, moving obstacles such as human should also be considered. In this paper, a navigation algorithm which works for moving obstacles and stationary ones with unknown environment is proposed, using a new idea that distinguishes moving obstacles from stationary ones with distance information by sensor of mobile robot. The idea is based on the definition of an inclination angle on the wall surface that is called the wall surface -angle. The wall surface angle of each step is accumulated while following the boundary. When the difference between the total accumulated angle obstacle is recognized as a moving obstacle. According to this idea with Tangent Bug algorithm for stationary obstacles, the navigation algorithm for moving convex shaped obstacles is constructed. In this paper the effectiveness of this algorithm for moving obstacles is shown by simulations. Key Words : Sensor-Based Navigation Algorithm, Moving Obstacles, Rotation Angle E-mail : tomita @kyushu-pc.ac.jp

Fig. 2 Fig. 1 Generated path by T-bug algorithm Moving direction in Tangent bug algorithm

Fig. 3 Generated path by Tangent bug algorithm Fig. 4 Successfully generated path by T-bug algorithm for a moving obstacle Fig. 5 Unsuccessfully generated path by T-bug algorithm for a moving obstacle

Fig. 6 Robot's coordinate frame and robot's absolute angle

Fig. 7 Step by step of changing moving direction when detecting obstacles surface Fig. 8 Flow chart of the proposed algorithm

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Conf. on Intelligent Robots and Systems, (2005), pp.997-1002. (10) S. Ishikawa and S. Asaka, A Method of Piloting an Autonomous Mobile Robot in Dynamically Chainging Environment Including Moving Obstacles, Journal of Robotics Society of Japan, Vol.11, No.6 (1993), pp.856-867. (11) V. J. Lumelsky and A. A. Stepanov, Path-Planning Strategies for a Point Mobile Automaton Moving Amidst Unknown Obstacles of Arbitrary Shape, Algorithmica, Vol.2, (1987), pp.403-430. (12) H. Noborio and J. Hashime, A Feasible Path Planning Algorithm for a Mobile Robot with a Visible Region in an Uncertain Workspace, Journal of Robotics Society of Japan, Vol.10, No.3 (1992), pp.378-384. (13) V. J. Lumelsky, A Comparative Study on the Path Length Performance of Maze-Searching and Robot Motion Planning Algorithm, IEEE Trans. on Robotics and Automation, Vol.7, No.1 (1991), pp.57-66. (14) X. D. Yang, M. Yamamoto and A. Mohri, Path Planning for Mobile Robot in Unceartain Workspace Using Obstacle Topology, Journal of Robotics Society of Japan, Vol.13, No.8 (1995), pp.1130-1137. (15) I. Kamon, et. al., A New Range-Sensor Based Globally Convergent Navigation Algorithm for Mobile Robot, Proc. of the IEEE Int. Conf, on Robotics and Automation, (1996), pp.429-435. (16) M. Yamamoto, N. Ushimi and A. Mohri, Navigation Algorithm for Mobile Robots Using Information of a Target Direction, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.65, No.631 (1999), pp.1013-1020.

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