Autonomous navigation with deadlock detection and avoidance

Autores
Sanchez, Guido; Giovanini, Leonardo L.
Año de publicación
2013
Idioma
inglés
Tipo de recurso
documento de conferencia
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.
Sociedad Argentina de Informática e Investigación Operativa
Materia
Ciencias Informáticas
navigational system
mobile robots
Nivel de accesibilidad
acceso abierto
Condiciones de uso
http://creativecommons.org/licenses/by-sa/4.0/
Repositorio
SEDICI (UNLP)
Institución
Universidad Nacional de La Plata
OAI Identificador
oai:sedici.unlp.edu.ar:10915/76222
Acceder
id SEDICI_e16d79587e24a24002e25c478f7f6178
oai_identifier_str oai:sedici.unlp.edu.ar:10915/76222
network_acronym_str SEDICI
repository_id_str 1329
network_name_str SEDICI (UNLP)
spelling Autonomous navigation with deadlock detection and avoidanceSanchez, GuidoGiovanini, Leonardo L.Ciencias Informáticasnavigational systemmobile robotsThis 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.Sociedad Argentina de Informática e Investigación Operativa2013-09info:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/publishedVersionObjeto de conferenciahttp://purl.org/coar/resource_type/c_5794info:ar-repo/semantics/documentoDeConferenciaapplication/pdf133-144http://sedici.unlp.edu.ar/handle/10915/76222enginfo:eu-repo/semantics/altIdentifier/url/http://42jaiio.sadio.org.ar/proceedings/simposios/Trabajos/ASAI/12.pdfinfo:eu-repo/semantics/altIdentifier/issn/1850-2784info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by-sa/4.0/Creative Commons Attribution-ShareAlike 4.0 International (CC BY-SA 4.0)reponame:SEDICI (UNLP)instname:Universidad Nacional de La Platainstacron:UNLP2025-11-05T12:52:48Zoai:sedici.unlp.edu.ar:10915/76222Institucionalhttp://sedici.unlp.edu.ar/Universidad públicaNo correspondehttp://sedici.unlp.edu.ar/oai/snrdalira@sedici.unlp.edu.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:13292025-11-05 12:52:48.42SEDICI (UNLP) - Universidad Nacional de La Platafalse
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
Ciencias Informáticas
navigational system
mobile robots
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
Giovanini, Leonardo L.
author Sanchez, Guido
author_facet Sanchez, Guido
Giovanini, Leonardo L.
author_role author
author2 Giovanini, Leonardo L.
author2_role author
dc.subject.none.fl_str_mv Ciencias Informáticas
navigational system
mobile robots
topic Ciencias Informáticas
navigational system
mobile robots
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.
Sociedad Argentina de Informática e Investigación Operativa
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 2013
dc.date.none.fl_str_mv 2013-09
dc.type.none.fl_str_mv info:eu-repo/semantics/conferenceObject
info:eu-repo/semantics/publishedVersion
Objeto de conferencia
http://purl.org/coar/resource_type/c_5794
info:ar-repo/semantics/documentoDeConferencia
format conferenceObject
status_str publishedVersion
dc.identifier.none.fl_str_mv http://sedici.unlp.edu.ar/handle/10915/76222
url http://sedici.unlp.edu.ar/handle/10915/76222
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://42jaiio.sadio.org.ar/proceedings/simposios/Trabajos/ASAI/12.pdf
info:eu-repo/semantics/altIdentifier/issn/1850-2784
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by-sa/4.0/
Creative Commons Attribution-ShareAlike 4.0 International (CC BY-SA 4.0)
eu_rights_str_mv openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by-sa/4.0/
Creative Commons Attribution-ShareAlike 4.0 International (CC BY-SA 4.0)
dc.format.none.fl_str_mv application/pdf
133-144
dc.source.none.fl_str_mv reponame:SEDICI (UNLP)
instname:Universidad Nacional de La Plata
instacron:UNLP
reponame_str SEDICI (UNLP)
collection SEDICI (UNLP)
instname_str Universidad Nacional de La Plata
instacron_str UNLP
institution UNLP
repository.name.fl_str_mv SEDICI (UNLP) - Universidad Nacional de La Plata
repository.mail.fl_str_mv alira@sedici.unlp.edu.ar
_version_ 1847978565329485824
score 12.61048

Publicaciones similares