Research Article
Hybrid Motion Planning Method for Autonomous Robots Using Kinect Based Sensor Fusion and Virtual Plane Approach in Dynamic Environments
Algorithm 1
Hybrid reactive dynamic navigation algorithm.
Input: Coordinate of Robot, obstacle 1, obstacle 2 and goal | Output: Speed of robot’s right and left wheels | Calculate using Kinect | While do | Calculate and | Send robot speed | if All in CA | Calculate using Kinect | if All then | There is no collision risk, keep send robot speed | else | Construct the virtual plane | Test the collision in the virtual plane | if there is a collision risk then | Check sonar sensor value | if sonar value is too small then | Chose of quick motion control | Send robot speed | else | Construct the -window | Chose the appropriate values for | Send robot speed | end if | end if | end if | end while |
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