{"title":"Navigation and guidance of an intelligent mobile robot","authors":"H. Hu, D. Gu, M. Brady","doi":"10.1109/EURBOT.1997.633597","DOIUrl":null,"url":null,"abstract":"This paper presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. A sensor-based autonomous navigation architecture for a dynamically changing environment is described. Emphasis is placed on two important issues: autonomous navigation and smooth guidance of the robot. Several trajectory models are adopted to generate continuous-curvature paths in order to cope with the nonholonomic constraint of the robot and unexpected obstacles. A smooth guidance algorithm has been used to track the planned path. Experimental results demonstrate its performance.","PeriodicalId":129683,"journal":{"name":"Proceedings Second EUROMICRO Workshop on Advanced Mobile Robots","volume":"42 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-10-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"17","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings Second EUROMICRO Workshop on Advanced Mobile Robots","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/EURBOT.1997.633597","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 17
Abstract
This paper presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. A sensor-based autonomous navigation architecture for a dynamically changing environment is described. Emphasis is placed on two important issues: autonomous navigation and smooth guidance of the robot. Several trajectory models are adopted to generate continuous-curvature paths in order to cope with the nonholonomic constraint of the robot and unexpected obstacles. A smooth guidance algorithm has been used to track the planned path. Experimental results demonstrate its performance.
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