Integrated Obstacle Detection and Avoidance for the Corobot System
نویسندگان
چکیده
Corobots have a potential for numerous applications that are available for educational purposes in the robotics lab for students use. Easily programmable corobots generates opportunities for students to learn robotics and discover their potential. Being inexpensive, the hardware of these corobots limits the detection of obstacles. The challenge is to find a good obstacle avoidance algorithm which would help to fully deploy these corobots. This project proposes and implements an algorithm to find Feasible Motion Directions(FMD) to avoid obstacles which is different from Artificial Potential Field approach. FMD is implemented in static and dynamic environments taking into considerations the issues present in APF. FMD shows improvement over APF by getting out of local minima and passing through narrow passage between nearby obstacles. FMD also tries to solve the oscillation problem of APF. Fig. 1. Nomenclature
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