TY - GEN
T1 - A method for robustness improvement of robot obstacle avoidance algorithm
AU - Zong, Guanghua
AU - Deng, Luhua
AU - Wang, Wei
PY - 2006
Y1 - 2006
N2 - The robustness of obstacle avoidance algorithm is one of the important factors to successful applications of mobile robot systems. The sonar ring is used widely for autonomous mobile robot obstacle avoidance. This paper first analyzes the robustness of the existing obstacle avoidance algorithms based on sonar ring, indicates that the certainty grid method for obstacle representation is helpful to the robustness improvement of obstacle avoidance algorithms, but its effect is limited, it also has many disadvantages. By the simulation of two typical obstacle avoidance algorithms, the damage of interfered sonar data is revealed. Then the kinematics model of obstacle avoidance is built, Kalman filter which can restrain divergence is designed for interfered sonar data. Sonar data is used by obstacle avoidance algorithm after filtering. By the simulation contrast of the two obstacle avoidance algorithms, the effect of the Kalman filter for robustness improvement of obstacle avoidance algorithms is testified. Finally, the effect of the Kalman filter for eliminating noises in sonar data and for robustness improvement of obstacle avoidance algorithms is verified by experiments in two different situation.
AB - The robustness of obstacle avoidance algorithm is one of the important factors to successful applications of mobile robot systems. The sonar ring is used widely for autonomous mobile robot obstacle avoidance. This paper first analyzes the robustness of the existing obstacle avoidance algorithms based on sonar ring, indicates that the certainty grid method for obstacle representation is helpful to the robustness improvement of obstacle avoidance algorithms, but its effect is limited, it also has many disadvantages. By the simulation of two typical obstacle avoidance algorithms, the damage of interfered sonar data is revealed. Then the kinematics model of obstacle avoidance is built, Kalman filter which can restrain divergence is designed for interfered sonar data. Sonar data is used by obstacle avoidance algorithm after filtering. By the simulation contrast of the two obstacle avoidance algorithms, the effect of the Kalman filter for robustness improvement of obstacle avoidance algorithms is testified. Finally, the effect of the Kalman filter for eliminating noises in sonar data and for robustness improvement of obstacle avoidance algorithms is verified by experiments in two different situation.
KW - Kalman filter
KW - Obstacle avoidance algorithm
KW - Robot
KW - Robustness
KW - Sonar
UR - https://www.scopus.com/pages/publications/46249127863
U2 - 10.1109/ROBIO.2006.340325
DO - 10.1109/ROBIO.2006.340325
M3 - 会议稿件
AN - SCOPUS:46249127863
SN - 1424405718
SN - 9781424405718
T3 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
SP - 115
EP - 119
BT - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
T2 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Y2 - 17 December 2006 through 20 December 2006
ER -