Autonomous navigation with deadlock detection and avoidance

Autores
Sanchez, Guido Marcelo; Giovanini, Leonardo Luis
Año de publicación
2014
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This paper studies alternatives to solve the problem of autonomous mobile robots navigation in unknown indoor environments. The navigation system uses fuzzy logic to combine the information obtained from range sensors and the navigational data to plan the robot’s movements. The strategy is built upon five modules: i) target following, ii) obstacle avoidance, iii) possible path, iv) deadlock detection and v) wall following. Given a possible path and obstacles near the environment of the robot, the controller will modulate the output velocity in order to go to the target and avoid collisions. In case of dead lock situations, a method that enables the robot to detect, escape and reach the target is proposed. The performance and behavior of the proposed navigational system was evaluated through simulations in different conditions, where the effectiveness of the proposed method is demonstrated and compared with previous results.
Fil: Sanchez, Guido Marcelo. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional. Universidad Nacional del Litoral. Facultad de Ingeniería y Ciencias Hídricas. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional; Argentina
Fil: Giovanini, Leonardo Luis. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional. Universidad Nacional del Litoral. Facultad de Ingeniería y Ciencias Hídricas. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional; Argentina
Materia
AUTONOMOUS NAVIGATION
DEADLOCK DETECTION
FUZZY LOGIC
SIGNAL PROCESSING
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/31394
Acceder
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network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Autonomous navigation with deadlock detection and avoidanceSanchez, Guido MarceloGiovanini, Leonardo LuisAUTONOMOUS NAVIGATIONDEADLOCK DETECTIONFUZZY LOGICSIGNAL PROCESSINGhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This paper studies alternatives to solve the problem of autonomous mobile robots navigation in unknown indoor environments. The navigation system uses fuzzy logic to combine the information obtained from range sensors and the navigational data to plan the robot’s movements. The strategy is built upon five modules: i) target following, ii) obstacle avoidance, iii) possible path, iv) deadlock detection and v) wall following. Given a possible path and obstacles near the environment of the robot, the controller will modulate the output velocity in order to go to the target and avoid collisions. In case of dead lock situations, a method that enables the robot to detect, escape and reach the target is proposed. The performance and behavior of the proposed navigational system was evaluated through simulations in different conditions, where the effectiveness of the proposed method is demonstrated and compared with previous results.Fil: Sanchez, Guido Marcelo. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional. Universidad Nacional del Litoral. Facultad de Ingeniería y Ciencias Hídricas. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional; ArgentinaFil: Giovanini, Leonardo Luis. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional. Universidad Nacional del Litoral. Facultad de Ingeniería y Ciencias Hídricas. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional; ArgentinaSociedad Iberoamericana de Inteligencia Artificial2014-02info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/31394Giovanini, Leonardo Luis; Sanchez, Guido Marcelo; Autonomous navigation with deadlock detection and avoidance; Sociedad Iberoamericana de Inteligencia Artificial; Inteligencia Artificial; 17; 53; 2-2014; 13-231137-36011988-3064CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/http://journaldocs.iberamia.org/articles/1052/article%20(1).pdfinfo:eu-repo/semantics/altIdentifier/url/http://www.redalyc.org/html/925/92530455003/info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-22T11:59:50Zoai:ri.conicet.gov.ar:11336/31394instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-10-22 11:59:50.388CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Autonomous navigation with deadlock detection and avoidance
title Autonomous navigation with deadlock detection and avoidance
spellingShingle Autonomous navigation with deadlock detection and avoidance
Sanchez, Guido Marcelo
AUTONOMOUS NAVIGATION
DEADLOCK DETECTION
FUZZY LOGIC
SIGNAL PROCESSING
title_short Autonomous navigation with deadlock detection and avoidance
title_full Autonomous navigation with deadlock detection and avoidance
title_fullStr Autonomous navigation with deadlock detection and avoidance
title_full_unstemmed Autonomous navigation with deadlock detection and avoidance
title_sort Autonomous navigation with deadlock detection and avoidance
dc.creator.none.fl_str_mv Sanchez, Guido Marcelo
Giovanini, Leonardo Luis
author Sanchez, Guido Marcelo
author_facet Sanchez, Guido Marcelo
Giovanini, Leonardo Luis
author_role author
author2 Giovanini, Leonardo Luis
author2_role author
dc.subject.none.fl_str_mv AUTONOMOUS NAVIGATION
DEADLOCK DETECTION
FUZZY LOGIC
SIGNAL PROCESSING
topic AUTONOMOUS NAVIGATION
DEADLOCK DETECTION
FUZZY LOGIC
SIGNAL PROCESSING
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This paper studies alternatives to solve the problem of autonomous mobile robots navigation in unknown indoor environments. The navigation system uses fuzzy logic to combine the information obtained from range sensors and the navigational data to plan the robot’s movements. The strategy is built upon five modules: i) target following, ii) obstacle avoidance, iii) possible path, iv) deadlock detection and v) wall following. Given a possible path and obstacles near the environment of the robot, the controller will modulate the output velocity in order to go to the target and avoid collisions. In case of dead lock situations, a method that enables the robot to detect, escape and reach the target is proposed. The performance and behavior of the proposed navigational system was evaluated through simulations in different conditions, where the effectiveness of the proposed method is demonstrated and compared with previous results.
Fil: Sanchez, Guido Marcelo. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional. Universidad Nacional del Litoral. Facultad de Ingeniería y Ciencias Hídricas. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional; Argentina
Fil: Giovanini, Leonardo Luis. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional. Universidad Nacional del Litoral. Facultad de Ingeniería y Ciencias Hídricas. Instituto de Investigación en Señales, Sistemas e Inteligencia Computacional; Argentina
description This paper studies alternatives to solve the problem of autonomous mobile robots navigation in unknown indoor environments. The navigation system uses fuzzy logic to combine the information obtained from range sensors and the navigational data to plan the robot’s movements. The strategy is built upon five modules: i) target following, ii) obstacle avoidance, iii) possible path, iv) deadlock detection and v) wall following. Given a possible path and obstacles near the environment of the robot, the controller will modulate the output velocity in order to go to the target and avoid collisions. In case of dead lock situations, a method that enables the robot to detect, escape and reach the target is proposed. The performance and behavior of the proposed navigational system was evaluated through simulations in different conditions, where the effectiveness of the proposed method is demonstrated and compared with previous results.
publishDate 2014
dc.date.none.fl_str_mv 2014-02
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/31394
Giovanini, Leonardo Luis; Sanchez, Guido Marcelo; Autonomous navigation with deadlock detection and avoidance; Sociedad Iberoamericana de Inteligencia Artificial; Inteligencia Artificial; 17; 53; 2-2014; 13-23
1137-3601
1988-3064
CONICET Digital
CONICET
url http://hdl.handle.net/11336/31394
identifier_str_mv Giovanini, Leonardo Luis; Sanchez, Guido Marcelo; Autonomous navigation with deadlock detection and avoidance; Sociedad Iberoamericana de Inteligencia Artificial; Inteligencia Artificial; 17; 53; 2-2014; 13-23
1137-3601
1988-3064
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://journaldocs.iberamia.org/articles/1052/article%20(1).pdf
info:eu-repo/semantics/altIdentifier/url/http://www.redalyc.org/html/925/92530455003/
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Sociedad Iberoamericana de Inteligencia Artificial
publisher.none.fl_str_mv Sociedad Iberoamericana de Inteligencia Artificial
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1846782320917348352
score 12.982451

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