Simultaneously-firing sonar ring based high-speed navigation for nonholonomic mobile robots in unstructured environments
Zhaoxian Xie, Zhijun Li, Y. Sugiura, Aiguo Ming, M. Shimojo · 2005
To achieve high-speed navigation in narrow, cluttered, dynamic, unstructured environments, a sensing system using a sonar ring for a mobile robot capable of rapid detection and avoidance of obstacles has been developed and a prototype of the sensing system with 24 sonar sensors is fabricated. A composite method of firing all ultrasonic sensors simultaneously with the scanning rate up to 66 Hz of panoramic detection and Dynamic Window Approach (DWA) is presented. The experimental results show that a rapid navigation of the mobile robot in the unstructured environment becomes possible.