Efficient wall-corner collision avoidance using D-images
Guohe Fu, Xinyu Zhang · 2016
When an autonomous mobile robot exploring in an unstructured environment, it may often enter a wall-corner, but be stuck there. We present a wall-corner collision detection and avoidance algorithm using depth images. We first determine if a mobile robot is trapped in a wall-corner using historic alternate turnings. Then we propose a geometric approach to let the robot escape a corner. We demonstrate the efficiency of our algorithm using simulations and experimental tests. Using our algorithm, a robot can quickly detect and escape wall-corners. Moreover, we extend our algorithm to handle a very challenging scenario, Z-shaped Zigzag paths.