In this paper, an experimental study of a navigation system that allows a mobile robot to travel in an environment about which it has no prior knowledge is described. Data from multiple ultrasonic range sensors are fused into a representation called Heuristic Asymmetric Mapping to deal with the problem of uncertainties in the raw sensory data caused mainly by the transducer's beam-opening angle and specular reflections. It features a fast data-refresh rate to handle a dynamic environment. Potential-field method is used for on-line path planning based on the constructed gridtype sonar map. The mobile robot can therefore learn to find a safe path according to its self-built sonar map. To solve the problem of local minima in conventional potential field method, a new type of potential function is formulated. This new method is simple and fast in execution using the concept from distance-transform path-finding algorithms. The developed navigation system has been tested on our experimental mobile robot to demonstrate its possible application in practical situations. Several interesting simulation and experimental results are presented.
|Number of pages||22|
|Journal||Journal of Intelligent and Robotic Systems: Theory and Applications|
|State||Published - 1 Jan 1996|
- Mobile robot
- Potential function
- Sonar map