An Analytical Approach to Avoid Obstacles in Mobile Robot Navigation

Autores
Brandao, Alexandre Santos; Sarcinelli Filho, Mário; Carelli Albarracin, Ricardo Oscar
Año de publicación
2013
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
A nonlinear supervised globally stable controller is proposed to reactively guide a mobile robot to avoid obstacles while seeking a goal. Whenever the robot detects an object nearby, its orientation is changed to be aligned with the tangent to the border of the obstacle. Then, the robot starts following it, looking for a feasible path to its goal. The supervisor is responsible for deciding which path to take when the robot faces some particular obstacle configurations that are quite difficult to deal with. Several simulations and experiments were run to validate the proposal, some of which are discussed here. To run the experiments, the proposed controller is programmed into the onboard computer of a real unicycle mobile platform, equipped with a laser range scanner. As for the simulations, the models of the same experimental setup were used. The final conclusion is that the nonlinear supervised controller proposed to solve the problem of avoiding obstacles during goal seeking has been validated, based on the theoretical analysis, and the simulated and experimental results.
Fil: Brandao, Alexandre Santos. Federal University of Viçosa. Department of Electrical Engineering; Brasil
Fil: Sarcinelli Filho, Mário . Federal University of Espírito Santo. Department of Electrical Engineering; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Universidad Nacional de San Juan. Facultad de Ingenieria. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Materia
Mobile Robots
Supervisory Control
Obstacle Avoidance
Nonlinear Control
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/3930
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/3930
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling An Analytical Approach to Avoid Obstacles in Mobile Robot NavigationBrandao, Alexandre SantosSarcinelli Filho, Mário Carelli Albarracin, Ricardo OscarMobile RobotsSupervisory ControlObstacle AvoidanceNonlinear Controlhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2A nonlinear supervised globally stable controller is proposed to reactively guide a mobile robot to avoid obstacles while seeking a goal. Whenever the robot detects an object nearby, its orientation is changed to be aligned with the tangent to the border of the obstacle. Then, the robot starts following it, looking for a feasible path to its goal. The supervisor is responsible for deciding which path to take when the robot faces some particular obstacle configurations that are quite difficult to deal with. Several simulations and experiments were run to validate the proposal, some of which are discussed here. To run the experiments, the proposed controller is programmed into the onboard computer of a real unicycle mobile platform, equipped with a laser range scanner. As for the simulations, the models of the same experimental setup were used. The final conclusion is that the nonlinear supervised controller proposed to solve the problem of avoiding obstacles during goal seeking has been validated, based on the theoretical analysis, and the simulated and experimental results.Fil: Brandao, Alexandre Santos. Federal University of Viçosa. Department of Electrical Engineering; BrasilFil: Sarcinelli Filho, Mário . Federal University of Espírito Santo. Department of Electrical Engineering; ArgentinaFil: Carelli Albarracin, Ricardo Oscar. Universidad Nacional de San Juan. Facultad de Ingenieria. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaInTech2013-06info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/3930Brandao, Alexandre Santos; Sarcinelli Filho, Mário ; Carelli Albarracin, Ricardo Oscar; An Analytical Approach to Avoid Obstacles in Mobile Robot Navigation; InTech; International Journal of Advanced Robotic Systems; 10; 278; 6-2013; 1-131729-88061729-8814enginfo:eu-repo/semantics/altIdentifier/url/http://www.intechopen.com/books/international_journal_of_advanced_robotic_systems/an-analytical-approach-to-avoid-obstacles-in-mobile-robot-navigationinfo:eu-repo/semantics/altIdentifier/issn/1729-8806info:eu-repo/semantics/altIdentifier/doi/DOI:10.5772/56613info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T09:56:02Zoai:ri.conicet.gov.ar:11336/3930instacron: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:34982025-09-29 09:56:02.465CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv An Analytical Approach to Avoid Obstacles in Mobile Robot Navigation
title An Analytical Approach to Avoid Obstacles in Mobile Robot Navigation
spellingShingle An Analytical Approach to Avoid Obstacles in Mobile Robot Navigation
Brandao, Alexandre Santos
Mobile Robots
Supervisory Control
Obstacle Avoidance
Nonlinear Control
title_short An Analytical Approach to Avoid Obstacles in Mobile Robot Navigation
title_full An Analytical Approach to Avoid Obstacles in Mobile Robot Navigation
title_fullStr An Analytical Approach to Avoid Obstacles in Mobile Robot Navigation
title_full_unstemmed An Analytical Approach to Avoid Obstacles in Mobile Robot Navigation
title_sort An Analytical Approach to Avoid Obstacles in Mobile Robot Navigation
dc.creator.none.fl_str_mv Brandao, Alexandre Santos
Sarcinelli Filho, Mário
Carelli Albarracin, Ricardo Oscar
author Brandao, Alexandre Santos
author_facet Brandao, Alexandre Santos
Sarcinelli Filho, Mário
Carelli Albarracin, Ricardo Oscar
author_role author
author2 Sarcinelli Filho, Mário
Carelli Albarracin, Ricardo Oscar
author2_role author
author
dc.subject.none.fl_str_mv Mobile Robots
Supervisory Control
Obstacle Avoidance
Nonlinear Control
topic Mobile Robots
Supervisory Control
Obstacle Avoidance
Nonlinear Control
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv A nonlinear supervised globally stable controller is proposed to reactively guide a mobile robot to avoid obstacles while seeking a goal. Whenever the robot detects an object nearby, its orientation is changed to be aligned with the tangent to the border of the obstacle. Then, the robot starts following it, looking for a feasible path to its goal. The supervisor is responsible for deciding which path to take when the robot faces some particular obstacle configurations that are quite difficult to deal with. Several simulations and experiments were run to validate the proposal, some of which are discussed here. To run the experiments, the proposed controller is programmed into the onboard computer of a real unicycle mobile platform, equipped with a laser range scanner. As for the simulations, the models of the same experimental setup were used. The final conclusion is that the nonlinear supervised controller proposed to solve the problem of avoiding obstacles during goal seeking has been validated, based on the theoretical analysis, and the simulated and experimental results.
Fil: Brandao, Alexandre Santos. Federal University of Viçosa. Department of Electrical Engineering; Brasil
Fil: Sarcinelli Filho, Mário . Federal University of Espírito Santo. Department of Electrical Engineering; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Universidad Nacional de San Juan. Facultad de Ingenieria. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
description A nonlinear supervised globally stable controller is proposed to reactively guide a mobile robot to avoid obstacles while seeking a goal. Whenever the robot detects an object nearby, its orientation is changed to be aligned with the tangent to the border of the obstacle. Then, the robot starts following it, looking for a feasible path to its goal. The supervisor is responsible for deciding which path to take when the robot faces some particular obstacle configurations that are quite difficult to deal with. Several simulations and experiments were run to validate the proposal, some of which are discussed here. To run the experiments, the proposed controller is programmed into the onboard computer of a real unicycle mobile platform, equipped with a laser range scanner. As for the simulations, the models of the same experimental setup were used. The final conclusion is that the nonlinear supervised controller proposed to solve the problem of avoiding obstacles during goal seeking has been validated, based on the theoretical analysis, and the simulated and experimental results.
publishDate 2013
dc.date.none.fl_str_mv 2013-06
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/11336/3930
Brandao, Alexandre Santos; Sarcinelli Filho, Mário ; Carelli Albarracin, Ricardo Oscar; An Analytical Approach to Avoid Obstacles in Mobile Robot Navigation; InTech; International Journal of Advanced Robotic Systems; 10; 278; 6-2013; 1-13
1729-8806
1729-8814
url http://hdl.handle.net/11336/3930
identifier_str_mv Brandao, Alexandre Santos; Sarcinelli Filho, Mário ; Carelli Albarracin, Ricardo Oscar; An Analytical Approach to Avoid Obstacles in Mobile Robot Navigation; InTech; International Journal of Advanced Robotic Systems; 10; 278; 6-2013; 1-13
1729-8806
1729-8814
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://www.intechopen.com/books/international_journal_of_advanced_robotic_systems/an-analytical-approach-to-avoid-obstacles-in-mobile-robot-navigation
info:eu-repo/semantics/altIdentifier/issn/1729-8806
info:eu-repo/semantics/altIdentifier/doi/DOI:10.5772/56613
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv InTech
publisher.none.fl_str_mv InTech
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
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score 13.070432

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