Laser Scanner based Obstacle Avoidance Algorithm for Autonomous Service Robots

概要

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Service robots used for the guidance and delivery. In this paper, we present an obstacle avoidance method for a mobile robot equipped with a laser scanner in a corridor. For avoiding obstacles, we propose five different behaviors for mobile robot and these behaviors are selected by the robot, depending on the environment. Experiments were carried out in several simulated and real environments including a narrow and complex environment, a dead-end trap, and a rapidly changing situation. The robot was able to navigate in a corridor without collisions. Our method can make the robot navigate in very dense, cluttered, and complex scenarios which are a challenge for many other methods.
日本知能情報ファジィ学会の論文