UPM Institutional Repository

Modified virtual semi-circle approach for a reactive collision avoidance of a mobile robot in an outdoor environment


Citation

Raja Maamor Shah, Raja Noor Farah Azura and Nayan, Irwan and Raja Maamor Shah, Raja Lailatul Zuraida and Amira Shahirah and Mohd Hanafi @ Omar, Hafiz (2014) Modified virtual semi-circle approach for a reactive collision avoidance of a mobile robot in an outdoor environment. Applied Mechanics and Materials, 679. pp. 171-175. ISSN 1660-9336; ESSN: 1662-7482

Abstract

There are numerous numbers of methods that have been introduced to the Unmanned Ground Vehicle (UGV) to find its optimal path. The purpose of this paper is to navigate a cost effective UGV known as MG-TruckS with optimal path planning in an outdoor environment. A Modified Virtual Semi Circle approach is proposed based on situated-activity paradigm. This approach is divided into two phase to compute a free collision path planning; detection and avoidance phase. Implementation of five ultrasonic range finder sensors with a very small blind zone created on purpose and the formation of three layers of influence zone shows the optimized path planning without making any unnecessary obstacle avoidance being computed.


Download File

[img]
Preview
Text (Abstract)
Modified virtual semi-circle approach for a reactive collision avoidance of a mobile robot in an outdoor environment.pdf

Download (34kB) | Preview

Additional Metadata

Item Type: Article
Divisions: Faculty of Computer Science and Information Technology
DOI Number: https://doi.org/10.4028/www.scientific.net/AMM.679.171
Publisher: Trans Tech Publications
Keywords: Obstacle avoidance; Outdoor environment; Path planning; Sensor; Unmanned ground vehicle
Depositing User: Nabilah Mustapa
Date Deposited: 09 Mar 2018 02:26
Last Modified: 09 Mar 2018 02:26
Altmetrics: http://www.altmetric.com/details.php?domain=psasir.upm.edu.my&doi=10.4028/www.scientific.net/AMM.679.171
URI: http://psasir.upm.edu.my/id/eprint/59559
Statistic Details: View Download Statistic

Actions (login required)

View Item View Item