Laserradar and sonar based world modeling and motion control for fast obstacle avoidance of the autonomous mobile robot MOBOT-IV
Michael Buchberger, Klaus-Werner Jörg, Ewald von Puttkamer · 2002
The obstacle avoidance mechanism of MOBOT-IV, which serves as a test platform within the scope of a research project on autonomous mobile robots for indoor applications is described. The mechanism utilizes heterogeneous information obtained from a laser radar and a sonar sensor system in order to achieve a reliable and complete world model for real-time collision avoidance. This world model is transformed by a motion control component into a virtual position deviation to perform obstacle avoidance by using a track-control algorithm.>