INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Embedding obstacle avoidance to trajectory tracking for unicycle mobile robots
Autor/es:
CASSIUS RESENDE; RICARDO CARELLI; TEODIANO FREIRE BASTOS; MARIO SARCINELLI FILHO
Lugar:
Vilamoura-Algarve
Reunión:
Conferencia; IEEE International Conference on Intelligent Robots and Systems (IROS 2012); 2012
Institución organizadora:
IEEE
Resumen:
This paper presents a new reactive method to avoid obstacles during trajectory tracking, considering unicycle mobile robots navigating in semi-structured environments, a proposal that can be used in association with any trajectory tracking controller. A meaningful improvement in the obstacle avoidance process is achieved analyzing the layout of the obstacles in relation to the planned trajectory. Experimental results show that the evasion algorithm is quite efficient, reducing the time spent to avoid obstacles and shortening the path traveled by the robot during such procedure as well.
