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Experimental Evaluation of a Modified Obstacle Based Potential Field Algorithm for an Off-Road Mobile Robot
Luleå tekniska universitet.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-2001-7171
2014 (English)In: Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics: ICINCO 2014, Vienna, Austria 1 - 3 September 2014 / [ed] J. Felipe, SciTePress, 2014, Vol. 1, p. 626-633Conference paper, Published paper (Refereed)
Abstract [en]

This article presents an experimental evaluation of a modified obstacle based artificial potential field algorithm for an off-road mobile robot. The first contribution of the presented approach concerns the transformation of the artificial potential field method for the guidance of the vehicle and obstacle avoidance, in order to make it suitable for utilising a visual feedback. The visual feedback is relying on a depth image, provided by the low cost kinect sensor. The second contribution concerns the proposal of a novel scheme for the identification and perception of obstacles. Based on the proposed methodology, the vehicle is capable of categorising the obstacles based on their height in order to alter the calculated forces, for enabling a cognitive decision regarding their avoidance or the driving over them, by utilising the robot’s off road capabilities. The proposed scheme is highly suggested for off road robots, since in the normal cases, the existence of small rocks, branches, etc. can be accidentally identified as obstacles that could make the robot to avoid them or block its further movement. The performance of the proposed modified potential field algorithm has been experimentally applied and evaluated in multiple robotic exploration scenarios, where from the obtained results the efficiency and the advantages of such a modified scheme have been depicted.

Place, publisher, year, edition, pages
SciTePress, 2014. Vol. 1, p. 626-633
Keywords [en]
Information technology - Automatic control
Keywords [sv]
Informationsteknik - Reglerteknik
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-27095Scopus ID: 84910102336Local ID: 06a06f5b-e4d7-448a-81d9-50e084d016e1ISBN: 9789897580406 (print)OAI: oai:DiVA.org:ltu-27095DiVA, id: diva2:1000276
Conference
International Conference on Informatics in Control, Automation and Robotics : 01/09/2014 - 03/09/2014
Note

Godkänd; 2014; 20140627 (geonik)

Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2017-12-18Bibliographically approved

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Nyberg, RickardNikolakopoulos, GeorgeKominiak, Dariusz

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