Exponential Fields Formulation for WMR Navigation
In this manuscript, an autonomous navigation algorithm for wheeled mobile robots (WMR) operating in dynamic environments (indoors or structured outdoors) is formulated. The planning scheme is of critical importance for autonomous navigational tasks in complex dynamic environments. In fast dynamic en...
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| Format: | Article |
| Language: | English |
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Wiley
2012-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.3233/ABB-2012-0054 |
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| author | Edgar A. Martínez-García Rafael Torres-Cordoba |
| author_facet | Edgar A. Martínez-García Rafael Torres-Cordoba |
| author_sort | Edgar A. Martínez-García |
| collection | DOAJ |
| description | In this manuscript, an autonomous navigation algorithm for wheeled mobile robots (WMR) operating in dynamic environments (indoors or structured outdoors) is formulated. The planning scheme is of critical importance for autonomous navigational tasks in complex dynamic environments. In fast dynamic environments, path planning needs algorithms able to sense simultaneously a diversity of obstacles, and use such sensory information to improve real-time navigation control, while moving towards a desired goal destination. The framework tackles 4 issues. 1) Reformulation of the Social Force Model (SFM) adapted to WMR; 2) the cohesion of a general inertial scheme to represents motion in any coordinate system; 3) control of actuators rotational speed as a general model regardless kinematic restrictions; 4) assuming detection of features (obstacles/goals), adaptive numeric weights are formulated to affect navigational exponential components. Simulation and experimental outdoors results are presented to show the feasibility of the proposed framework. |
| format | Article |
| id | doaj-art-b4a3c26a9de34bf88da93821d4045d07 |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2012-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-b4a3c26a9de34bf88da93821d4045d072025-02-03T05:48:00ZengWileyApplied Bionics and Biomechanics1176-23221754-21032012-01-019437539710.3233/ABB-2012-0054Exponential Fields Formulation for WMR NavigationEdgar A. Martínez-García0Rafael Torres-Cordoba1Laboratorio de Robótica, Institute of Engineering and Technology Universidad Autónoma de Ciudad Juárez, Ciudad Juárez, Chihuahua, MexicoLaboratorio de Robótica, Institute of Engineering and Technology Universidad Autónoma de Ciudad Juárez, Ciudad Juárez, Chihuahua, MexicoIn this manuscript, an autonomous navigation algorithm for wheeled mobile robots (WMR) operating in dynamic environments (indoors or structured outdoors) is formulated. The planning scheme is of critical importance for autonomous navigational tasks in complex dynamic environments. In fast dynamic environments, path planning needs algorithms able to sense simultaneously a diversity of obstacles, and use such sensory information to improve real-time navigation control, while moving towards a desired goal destination. The framework tackles 4 issues. 1) Reformulation of the Social Force Model (SFM) adapted to WMR; 2) the cohesion of a general inertial scheme to represents motion in any coordinate system; 3) control of actuators rotational speed as a general model regardless kinematic restrictions; 4) assuming detection of features (obstacles/goals), adaptive numeric weights are formulated to affect navigational exponential components. Simulation and experimental outdoors results are presented to show the feasibility of the proposed framework.http://dx.doi.org/10.3233/ABB-2012-0054 |
| spellingShingle | Edgar A. Martínez-García Rafael Torres-Cordoba Exponential Fields Formulation for WMR Navigation Applied Bionics and Biomechanics |
| title | Exponential Fields Formulation for WMR Navigation |
| title_full | Exponential Fields Formulation for WMR Navigation |
| title_fullStr | Exponential Fields Formulation for WMR Navigation |
| title_full_unstemmed | Exponential Fields Formulation for WMR Navigation |
| title_short | Exponential Fields Formulation for WMR Navigation |
| title_sort | exponential fields formulation for wmr navigation |
| url | http://dx.doi.org/10.3233/ABB-2012-0054 |
| work_keys_str_mv | AT edgaramartinezgarcia exponentialfieldsformulationforwmrnavigation AT rafaeltorrescordoba exponentialfieldsformulationforwmrnavigation |