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Control Assistance of a Mobile Robot Navigating into an Encumbered Environment

Abstract : This paper describes and illustrates the theoretical framework of an original obstacle avoidance module which aims to assist the robot guidance while navigating into a cluttered environment. This module, called CAM (Control Assistance Module) corrects the control inputs from a navigation module according to local observations, extracted from range data given by embedded sensors. It aims to warrant the robot security but keeps on taking into account the control orders from the navigation module, in order to satisfy the navigation task for the best. The obstacle avoidance approach is inspired by a reflex avoidance method, which consists on preserving a virtual zone around the robot. In an original way, when an obstacle enters into this virtual zone, the CAM plans dynamicly a judicious path to be followed to keep the zone intact. Avoidance control orders are then computed and merged with navigation orders by the CAM, according to a simple rule which privileges the robot's security. The CAM has been implemented and validated on a cart-like mobile robot, equipped with a sonar sensors belt. It also has been put on the test when the robot was teleoperated into an unknown environment for exploration.
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https://hal.inria.fr/hal-02467470
Contributor : Philippe Martinet <>
Submitted on : Wednesday, February 5, 2020 - 7:25:48 AM
Last modification on : Thursday, November 12, 2020 - 11:08:02 AM

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  • HAL Id : hal-02467470, version 1

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Guillaume Blanc, Jérôme Roblet, Youcef Mezouar, Philippe Martinet. Control Assistance of a Mobile Robot Navigating into an Encumbered Environment. ISMCR'05 - 15th International Symposium on Measurement and Control in Robotics, Nov 2005, Brussels, Belgium. ⟨hal-02467470⟩

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