An Algorithm for Navigation of Mobile Robots in Cluttered Environments
Service robots have brought convenience to the disabled. Housekeeping robots, e.g., floor cleaners, must be able to handle obstacles while moving toward designated targets. In real life, yet robots face difficulty in maze-like and in very cluttered environment of crammed indoor spaces. This article...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English English |
| Published: |
2013
|
| Online Access: | http://psasir.upm.edu.my/id/eprint/28409/1/An%20Algorithm%20for%20Navigation%20of%20Mobile%20Robots%20in%20Cluttered%20Environments.pdf |
| _version_ | 1825947310836678656 |
|---|---|
| author | Tang, Sai Hong Kanasen, Nantha Kumar Motlagh, Omid Reza Esmaeili Loo, Shing Yan Khaksar, Weria |
| author_facet | Tang, Sai Hong Kanasen, Nantha Kumar Motlagh, Omid Reza Esmaeili Loo, Shing Yan Khaksar, Weria |
| author_sort | Tang, Sai Hong |
| collection | UPM |
| description | Service robots have brought convenience to the disabled. Housekeeping robots, e.g., floor cleaners, must be able to handle obstacles while moving toward designated targets. In real life, yet robots face difficulty in maze-like and in very cluttered environment of crammed indoor spaces. This article introduces a new decision mechanism for path planning in indoors e.g., home, and office. A method is presented for implementing sub-goal network together with wall following. Various subroutines are used to direct the robot towards the target while each subroutine has its own sub-goal. Trajectory results are included to evaluate the performance of the algorithm. |
| first_indexed | 2024-03-06T08:11:21Z |
| format | Article |
| id | upm.eprints-28409 |
| institution | Universiti Putra Malaysia |
| language | English English |
| last_indexed | 2024-03-06T08:11:21Z |
| publishDate | 2013 |
| record_format | dspace |
| spelling | upm.eprints-284092015-12-29T03:15:52Z http://psasir.upm.edu.my/id/eprint/28409/ An Algorithm for Navigation of Mobile Robots in Cluttered Environments Tang, Sai Hong Kanasen, Nantha Kumar Motlagh, Omid Reza Esmaeili Loo, Shing Yan Khaksar, Weria Service robots have brought convenience to the disabled. Housekeeping robots, e.g., floor cleaners, must be able to handle obstacles while moving toward designated targets. In real life, yet robots face difficulty in maze-like and in very cluttered environment of crammed indoor spaces. This article introduces a new decision mechanism for path planning in indoors e.g., home, and office. A method is presented for implementing sub-goal network together with wall following. Various subroutines are used to direct the robot towards the target while each subroutine has its own sub-goal. Trajectory results are included to evaluate the performance of the algorithm. 2013 Article PeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/28409/1/An%20Algorithm%20for%20Navigation%20of%20Mobile%20Robots%20in%20Cluttered%20Environments.pdf Tang, Sai Hong and Kanasen, Nantha Kumar and Motlagh, Omid Reza Esmaeili and Loo, Shing Yan and Khaksar, Weria (2013) An Algorithm for Navigation of Mobile Robots in Cluttered Environments. Advanced Science Letters, 19 (11). pp. 3247-3249. ISSN 1936-6612 http://www.aspbs.com/science/contents-science19112013.htm#v19n11 10.1166/asl.2013.5149 English |
| spellingShingle | Tang, Sai Hong Kanasen, Nantha Kumar Motlagh, Omid Reza Esmaeili Loo, Shing Yan Khaksar, Weria An Algorithm for Navigation of Mobile Robots in Cluttered Environments |
| title | An Algorithm for Navigation of Mobile Robots in Cluttered Environments |
| title_full | An Algorithm for Navigation of Mobile Robots in Cluttered Environments |
| title_fullStr | An Algorithm for Navigation of Mobile Robots in Cluttered Environments |
| title_full_unstemmed | An Algorithm for Navigation of Mobile Robots in Cluttered Environments |
| title_short | An Algorithm for Navigation of Mobile Robots in Cluttered Environments |
| title_sort | algorithm for navigation of mobile robots in cluttered environments |
| url | http://psasir.upm.edu.my/id/eprint/28409/1/An%20Algorithm%20for%20Navigation%20of%20Mobile%20Robots%20in%20Cluttered%20Environments.pdf |
| work_keys_str_mv | AT tangsaihong analgorithmfornavigationofmobilerobotsinclutteredenvironments AT kanasennanthakumar analgorithmfornavigationofmobilerobotsinclutteredenvironments AT motlaghomidrezaesmaeili analgorithmfornavigationofmobilerobotsinclutteredenvironments AT looshingyan analgorithmfornavigationofmobilerobotsinclutteredenvironments AT khaksarweria analgorithmfornavigationofmobilerobotsinclutteredenvironments AT tangsaihong algorithmfornavigationofmobilerobotsinclutteredenvironments AT kanasennanthakumar algorithmfornavigationofmobilerobotsinclutteredenvironments AT motlaghomidrezaesmaeili algorithmfornavigationofmobilerobotsinclutteredenvironments AT looshingyan algorithmfornavigationofmobilerobotsinclutteredenvironments AT khaksarweria algorithmfornavigationofmobilerobotsinclutteredenvironments |