Improved follow the gap method for obstacle avoidance

Mustafa Demir; Volkan Sezer

doi:10.1109/AIM.2017.8014220

Improved follow the gap method for obstacle avoidance

Mustafa Demir
, Volkan Sezer

Kontrol ve Otomasyon Mühendisliği Bölümü

Istanbul Technical University

Araştırma çıktısı: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › Hakem

25 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 dil	İngilizce
Ana bilgisayar yayını başlığı	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Yayınlayan	Institute of Electrical and Electronics Engineers Inc.
Sayfalar	1435-1440
Sayfa sayısı	6
ISBN (Elektronik)	9781509059980
DOI'lar	https://doi.org/10.1109/AIM.2017.8014220
Yayın durumu	Yayınlandı - 21 Ağu 2017
Etkinlik	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany Süre: 3 Tem 2017 → 7 Tem 2017

Yayın serisi

Adı	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Ülke/Bölge	Germany
Şehir	Munich
Periyot	3/07/17 → 7/07/17

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.

Finansörler	Finansör numarası
TUBITAK	215E140
Consejo Nacional para Investigaciones Científicas y Tecnológicas

Belgeye Erişim

10.1109/AIM.2017.8014220

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

Demir, M., & Sezer, V. (2017). Improved follow the gap method for obstacle avoidance. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 (pp. 1435-1440). Makale 8014220 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2017.8014220

@inproceedings{c1d040d50c5c4e79b9d50054a31764db,

title = "Improved follow the gap method for obstacle avoidance",

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.",

author = "Mustafa Demir and Volkan Sezer",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 ; Conference date: 03-07-2017 Through 07-07-2017",

year = "2017",

month = aug,

day = "21",

doi = "10.1109/AIM.2017.8014220",

language = "English",

series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1435--1440",

booktitle = "2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017",

address = "United States",

}

Demir, M & Sezer, V 2017, Improved follow the gap method for obstacle avoidance. in 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017., 8014220, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Institute of Electrical and Electronics Engineers Inc., pp. 1435-1440, 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, Munich, Germany, 3/07/17. https://doi.org/10.1109/AIM.2017.8014220

Improved follow the gap method for obstacle avoidance. / Demir, Mustafa; Sezer, Volkan.
2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1435-1440 8014220 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

Araştırma çıktısı: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › Hakem

TY - GEN

T1 - Improved follow the gap method for obstacle avoidance

AU - Demir, Mustafa

AU - Sezer, Volkan

PY - 2017/8/21

Y1 - 2017/8/21

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/85028756769

U2 - 10.1109/AIM.2017.8014220

DO - 10.1109/AIM.2017.8014220

M3 - Conference contribution

AN - SCOPUS:85028756769

T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

SP - 1435

EP - 1440

BT - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017

Y2 - 3 July 2017 through 7 July 2017

ER -

Improved follow the gap method for obstacle avoidance

Özet

Yayın serisi

???event.eventtypes.event.conference???

Bibliyografik not

Finansman

Belgeye Erişim

Diğer Dosyalar ve Linkler

Parmak izi

Alıntı Yap