Incorporaçao de desvio de obstáculos ao seguimento de trajetória por robôs móveis uniciclos

CASSIUS RESENDE; RICARDO CARELLI; TEODIANO FREIRE BASTOS; MARIO SARCINELLI

Campina Grande

Congreso; XIX Congresso Brasileiro de Automática; 2012

Universidade Federal de Campina Grande

This paper presents a new reactive method to avoid obstacles during trajectory tracking, considering unicycle mobile robots navigating in semi-structured environments. The strategy proposed to avoid obstacles can be used with any existing trajectory tracking controller. A meaningful improvement in the obstacle avoidance process is achieved analyzing the disposition of the obstacles in relation to the planned trajectory. Experimental results demonstrate that the evasion algorithm is quite ecient and reduces both the time of obstacle avoidance and the path traveled by the robot during this procedure.