Development of a sensor-based approach for local minima recovery in unknown environments
This paper introduces a new methodology for escaping from local minima using an actual-virtual target switching strategy. In particular, this approach proposes suitable steps to detect trap situations and guide the robot away from local minima even when the environment is completely unknown. In this...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
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IEEE
2013
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| Online Access: | http://psasir.upm.edu.my/id/eprint/44948/1/Development%20of%20a%20sensor-based%20approach%20for%20local%20minima%20recovery%20in%20unknown%20environments.pdf |
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| author | Nakhaeinia, Danial Tang, Sai Hong Payeur, Pierre |
| author_facet | Nakhaeinia, Danial Tang, Sai Hong Payeur, Pierre |
| author_sort | Nakhaeinia, Danial |
| collection | UPM |
| description | This paper introduces a new methodology for escaping from local minima using an actual-virtual target switching strategy. In particular, this approach proposes suitable steps to detect trap situations and guide the robot away from local minima even when the environment is completely unknown. In this work the navigation system consists of two layers. In the low-level layer, a Nearest Virtual Target (NVT) approach is adapted as a reactive collision avoidance method for mobile robot navigation to achieve collision free motion in cluttered, dense and troublesome scenarios. Where the robot is surrounded by obstacles and a trap situation is likely to occur, the high-level layer becomes responsible to plan a path to pull the robot out of the trap. Finally, the performance of the proposed approach is validated by simulation results. |
| first_indexed | 2024-03-06T08:58:20Z |
| format | Conference or Workshop Item |
| id | upm.eprints-44948 |
| institution | Universiti Putra Malaysia |
| language | English |
| last_indexed | 2024-03-06T08:58:20Z |
| publishDate | 2013 |
| publisher | IEEE |
| record_format | dspace |
| spelling | upm.eprints-449482020-08-04T02:39:38Z http://psasir.upm.edu.my/id/eprint/44948/ Development of a sensor-based approach for local minima recovery in unknown environments Nakhaeinia, Danial Tang, Sai Hong Payeur, Pierre This paper introduces a new methodology for escaping from local minima using an actual-virtual target switching strategy. In particular, this approach proposes suitable steps to detect trap situations and guide the robot away from local minima even when the environment is completely unknown. In this work the navigation system consists of two layers. In the low-level layer, a Nearest Virtual Target (NVT) approach is adapted as a reactive collision avoidance method for mobile robot navigation to achieve collision free motion in cluttered, dense and troublesome scenarios. Where the robot is surrounded by obstacles and a trap situation is likely to occur, the high-level layer becomes responsible to plan a path to pull the robot out of the trap. Finally, the performance of the proposed approach is validated by simulation results. IEEE 2013 Conference or Workshop Item PeerReviewed text en http://psasir.upm.edu.my/id/eprint/44948/1/Development%20of%20a%20sensor-based%20approach%20for%20local%20minima%20recovery%20in%20unknown%20environments.pdf Nakhaeinia, Danial and Tang, Sai Hong and Payeur, Pierre (2013) Development of a sensor-based approach for local minima recovery in unknown environments. In: 2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE), 21-23 Oct. 2013, Washington DC, USA. . 10.1109/ROSE.2013.6698437 |
| spellingShingle | Nakhaeinia, Danial Tang, Sai Hong Payeur, Pierre Development of a sensor-based approach for local minima recovery in unknown environments |
| title | Development of a sensor-based approach for local minima recovery in unknown environments |
| title_full | Development of a sensor-based approach for local minima recovery in unknown environments |
| title_fullStr | Development of a sensor-based approach for local minima recovery in unknown environments |
| title_full_unstemmed | Development of a sensor-based approach for local minima recovery in unknown environments |
| title_short | Development of a sensor-based approach for local minima recovery in unknown environments |
| title_sort | development of a sensor based approach for local minima recovery in unknown environments |
| url | http://psasir.upm.edu.my/id/eprint/44948/1/Development%20of%20a%20sensor-based%20approach%20for%20local%20minima%20recovery%20in%20unknown%20environments.pdf |
| work_keys_str_mv | AT nakhaeiniadanial developmentofasensorbasedapproachforlocalminimarecoveryinunknownenvironments AT tangsaihong developmentofasensorbasedapproachforlocalminimarecoveryinunknownenvironments AT payeurpierre developmentofasensorbasedapproachforlocalminimarecoveryinunknownenvironments |