A Sensor Based Navigation Algorithm for a Mobile Robot using the DVFF Approach | Zendy

Oualid Djekoune | Zendy; Karim Achour | Zendy; R. Toumi | Zendy

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A Sensor Based Navigation Algorithm for a Mobile Robot using the DVFF Approach

Author(s) -

Oualid Djekoune,

Karim Achour,

R. Toumi

Publication year - 2009

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/6797

Subject(s) - computer science , mobile robot , motion planning , robot , mobile robot navigation , position (finance) , obstacle , path (computing) , obstacle avoidance , motion (physics) , computer vision , controller (irrigation) , real time computing , artificial intelligence , algorithm , field (mathematics) , robot control , computer network , mathematics , agronomy , finance , political science , law , economics , biology , pure mathematics

Often autonomous mobile robots operate in environment for which prior maps are incomplete or inaccurate. They require the safe execution for a collision free motion to a goal position. This paper addresses a complete navigation method for a mobile robot that moves in unknown environment. Thus, a novel method called DVFF combining the Virtual Force Field (VFF) obstacle avoidance approach and global path planning based on D* algorithm is proposed. While D* generates global path information towards a goal position, the VFF local controller generates the admissible trajectories that ensure safe robot motion. Results and analysis from a battery of experiments with this new method implemented on a ATRV2 mobile robot are shown

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