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Edgar A. Martínez-García, Rafael Torres-Cordoba, "Exponential Fields Formulation for WMR Navigation", Applied Bionics and Biomechanics, vol. 9, Article ID 418204, 23 pages, 2012. https://doi.org/10.3233/ABB-2012-0054
Exponential Fields Formulation for WMR Navigation
In this manuscript, an autonomous navigation algorithm for wheeled mobile robots (WMR) operating in dynamic environments (indoors or structured outdoors) is formulated. The planning scheme is of critical importance for autonomous navigational tasks in complex dynamic environments. In fast dynamic environments, path planning needs algorithms able to sense simultaneously a diversity of obstacles, and use such sensory information to improve real-time navigation control, while moving towards a desired goal destination. The framework tackles 4 issues. 1) Reformulation of the Social Force Model (SFM) adapted to WMR; 2) the cohesion of a general inertial scheme to represents motion in any coordinate system; 3) control of actuators rotational speed as a general model regardless kinematic restrictions; 4) assuming detection of features (obstacles/goals), adaptive numeric weights are formulated to affect navigational exponential components. Simulation and experimental outdoors results are presented to show the feasibility of the proposed framework.
Copyright © 2012 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.