Abstract
Follow the Gap Method (FGM) is a safety-focused geometric obstacle avoidance algorithm for local navigation. In this method, the largest gap around the robot is selected and the robot moves towards a goal point considering the largest gap and minimum distance to obstacle. One of the drawbacks of the method is the extension of the path which sometimes happens unnecessarily. Another drawback comes from small differences between the gap sizes. This sometimes makes the robot to change the selected gaps instantly which causes zigzag trajectories. In this paper, Improved Follow the Gap Method (FGM-I) is presented to eliminate these two drawbacks. In FGM-I, the gaps are selected according to a new utility function and unnecessary gap changes are penalized. A differential drive powerchair is used in simulations. The simulation results show that the FGM-I reduces the effects of the mentioned problems seriously.
| Original language | English |
|---|---|
| Title of host publication | 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1435-1440 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781509059980 |
| DOIs | |
| Publication status | Published - 21 Aug 2017 |
| Event | 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany Duration: 3 Jul 2017 → 7 Jul 2017 |
Publication series
| Name | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM |
|---|
Conference
| Conference | 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 |
|---|---|
| Country/Territory | Germany |
| City | Munich |
| Period | 3/07/17 → 7/07/17 |
Bibliographical note
Publisher Copyright:© 2017 IEEE.