INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Autonomous Navigation with Obstacle Avoidance for a Car-like Robot
Autor/es:
ALEXANDRE S. BRANDAO; ANDRE SASAKI; CARLOS CASTELANO; RAFAEL CRUZ; RICARDO CARELLI
Lugar:
Ceará
Reunión:
Simposio; 2012 Brazilian Robotics Symposium and Latin American Robotics Symposium; 2012
Institución organizadora:
Universidade de Fortaleza
Resumen:
This work details the autonomous navigation with obstacle avoidance for a car-like robot. A control architecture is here proposed dealing with a low- and high-level controller, which are responsible for driving the actuators and for guiding the navigation, respectively. In order to minimize the car-like motion constrain effects, a forward/backward maneuver switched controller is proposed and here presented as the main contribution. Simulation and experimental results validate the proposal, i.e., the robot is capable to navigate in a semistructured environment avoiding collisions in a reactive way.
