Abstract
In this manuscript, an autonomous navigation algorithm for wheeled mobile robots WMR operating in dynamic environments indoors or structured outdoors is formulated. The planning scheme is of critical importance for autonomous navigational tasks in complex dynamic environments. In fast dynamic environments, path planning needs algorithms able to sense simultaneously a diversity of obstacles, and use such sensory information to improve real-time navigation control, while moving towards a desired goal destination. The framework tackles 4 issues. 1 Reformulation of the Social Force Model SFM adapted to WMR; 2 the cohesion of a general inertial scheme to represents motion in any coordinate system; 3 control of actuators rotational speed as a general model regardless kinematic restrictions; 4 assuming detection of features obstacles/goals, adaptive numeric weights are formulated to affect navigational exponential components. Simulation and experimental outdoors results are presented to show the feasibility of the proposed framework.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
