Improved follow the gap method for obstacle avoidance

Mustafa Demir, Volkan Sezer

Araştırma sonucu: ???type-name???Konferans katkısıbilirkişi

20 Atıf (Scopus)

Özet

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.

Orijinal dilİngilizce
Ana bilgisayar yayını başlığı2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
YayınlayanInstitute of Electrical and Electronics Engineers Inc.
Sayfalar1435-1440
Sayfa sayısı6
ISBN (Elektronik)9781509059980
DOI'lar
Yayın durumuYayınlandı - 21 Ağu 2017
Etkinlik2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
Süre: 3 Tem 20177 Tem 2017

Yayın serisi

AdıIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

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???event.eventtypes.event.conference???2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Ülke/BölgeGermany
ŞehirMunich
Periyot3/07/177/07/17

Bibliyografik not

Publisher Copyright:
© 2017 IEEE.

Finansman

*This work was supported by Turkish Scientific and Technological Research Council (TUBITAK) under project no 215E140. ACKNOWLEDGMENT This work was supported by Turkish Scientific and Technological Research Council (TUBITAK) under project no 215E140.

FinansörlerFinansör numarası
TUBITAK215E140
Consejo Nacional para Investigaciones Científicas y Tecnológicas

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