Sonar-based Obstacle Avoidance for a Large, Non-point, Omni-directional Mobile Robot
نویسندگان
چکیده
This paper presents a method for reliable, real-time obstacle avoidance for an omnidirectional mobile robot, called “OmniMate.” The OmniMate is a large, rectangular-footprint platform with a flat loading deck measuring 184×92 cm (72×36”). To protect this vehicle from collisions we equipped it with a ring of 32 ultrasonic sensors and we developed a modified version of our earlier Vector Field Histogram (VFH) method, called Double-VFH (DVFH). The DVFH method accounts for the rectangular footprint of the OmniMate by calculates simultaneously two vector field histograms centered at two points along the longitudinal axis of OmniMate. Experimental results of the OmniMate traversing densely cluttered obstacle courses at an average speed of 0.2 0.3 m/sec and a maximum speed of 0.4 m/sec are also presented.
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