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.
Highlights
Nowadays, service robotics is an exponential growing area where human-robot interaction and cooperation play a critical roll in many task applications
We treated a reformulation of the Social Force Model to provide a general navigaton scheme to robotic tasks that could be of practical applications for generalized dynamic environments
From experiments we found that high speeds are implicitly controlled in the model itself
Summary
Service robotics is an exponential growing area where human-robot interaction and cooperation play a critical roll in many task applications. Service robots form a wide variety of applications, tasks, and missions, requiring a wide range of capability issues: computational organization; smart algorithms; sensors coordination and data fusion schemes; physical devices according to the tasks accomplishment; humanrobot interaction; interfaces control; and real time autonomous navigation capabilities. This manuscript is centred on a general scheme to accomplish WMR autonomous navigation. In order for a WMR to have the required abilities to navigate autonomously, a wide variety of aspects must be integrated, among which include merging intelligent planners, distributed-based architecture systems, collective sensing capabilities, and all essentials that
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