ナビゲーションarXiv:2012.03105
移動ロボットナビゲーションのための障害物回避と経路探索
Obstacle avoidance and path finding for mobile robot navigation
ロボット搭載カメラ・空中カメラ・超音波センサで障害物を検出し、角度ベースの経路探索アルゴリズムを開発してダイクストラ法と性能比較した研究。
著者: Poojith Kotikalapudi, Vinayak Elangovan
分類: cs.RO, cs.AI
原文アブストラクト
This paper investigates different methods to detect obstacles ahead of a robot using a camera in the robot, an aerial camera, and an ultrasound sensor. We also explored various efficient path finding methods for the robot to navigate to the target source. Single and multi-iteration angle-based navigation algorithms were developed. The theta-based path finding algorithms were compared with the Dijkstra Algorithm and their performance were analyzed.