International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
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Volume 81 - Issue 7 |
Published: November 2013 |
Authors: Nacer Hacene, Boubekeur Mendil |
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Nacer Hacene, Boubekeur Mendil . Autonomous Navigation and Obstacle Avoidance for a Wheeled Mobile Robots: A Hybrid Approach. International Journal of Computer Applications. 81, 7 (November 2013), 34-37. DOI=10.5120/14027-2285
@article{ 10.5120/14027-2285, author = { Nacer Hacene,Boubekeur Mendil }, title = { Autonomous Navigation and Obstacle Avoidance for a Wheeled Mobile Robots: A Hybrid Approach }, journal = { International Journal of Computer Applications }, year = { 2013 }, volume = { 81 }, number = { 7 }, pages = { 34-37 }, doi = { 10.5120/14027-2285 }, publisher = { Foundation of Computer Science (FCS), NY, USA } }
%0 Journal Article %D 2013 %A Nacer Hacene %A Boubekeur Mendil %T Autonomous Navigation and Obstacle Avoidance for a Wheeled Mobile Robots: A Hybrid Approach%T %J International Journal of Computer Applications %V 81 %N 7 %P 34-37 %R 10.5120/14027-2285 %I Foundation of Computer Science (FCS), NY, USA
In this paper, an autonomous navigation and obstacle avoidance strategy is proposed for an omnidirectional mobile robot. The robot plans a path, starting from an initial point going to a target point. A hybrid approach has been developed where a global approach has been applied to the motion along the desired path (DP) using 2nd order polynomial planning, while a local reactive approach is used to avoid collisions with static and/or dynamic obstacles based on the "sensing vector" and the "gap vector" concepts. The "sensing vector" is a binary vector which provides information about obstacles detection, while the "gap vector" provides information about a possible nearest gap the robot can pass through it.