Paper Info
Title
Iterative Obstacle Avoidance Algorithm for Mobile Robots
Abstract
Industry 4.0 paradigm is boosting the use of mobile robots in industrial applications. They must travel in areas with humans, obstacles and other vehicles. These robots are equippedwith sensors such as lidars that allowthem to perceive if there are obstacles close to them. This information can be exploited to avoid losses of performance. To do it, it is necessary to define obstacle avoidance algorithms to adjust the path of the robots maintaining a certain safety distance to the obstacles. In this work, an iterative obstacle avoidance for mobile robots is presented. The core idea is to enclose the obstacles in different bounding boxes in an iterative way and using some corners of the bounding boxes points to define the path. The algorithm also decides if the obstacles are avoided from the left or from the right. The algorithm has been intensively validated in simulation with positive results.
Year
DOI
Venue
2021
10.1007/978-3-030-87869-6_46
16TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING MODELS IN INDUSTRIAL AND ENVIRONMENTAL APPLICATIONS (SOCO 2021)
Keywords
DocType
Volume
Mobile robots, AGVs, Search iterative algorithm, Obstacle avoidance
Conference
1401
ISSN
Citations 
PageRank 
2194-5357
0
0.34
References 
Authors
0
3
Name
Order
Citations
PageRank
Jesús Enrique Sierra-García102.37
Marcos Millán200.68
Matilde Santos314324.39