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A biologically inspired method for robot navigation in a cluttered environment

Published online by Cambridge University Press:  11 August 2009

Hamid Teimoori  and
Andrey V. Savkin
Hamid Teimoori*
Affiliation:
School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney, Australia
Andrey V. Savkin
Affiliation:
School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney, Australia
*
*Corresponding author. E-mail: h.teimoori@unsw.edu.au
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Summary

The problem of wheeled mobile robot (WMR) navigation toward an unknown target in a cluttered environment has been considered. The biologically inspired navigation algorithm is the equiangular navigation guidance (ENG) law combined with a local obstacle avoidance technique. The collision avoidance technique uses a system of active sensors which provides the necessary information about obstacles in the vicinity of the robot. In order for the robot to avoid collision and bypass the enroute obstacles, the angle between the instantaneous moving direction of the robot and a reference point on the surface of the obstacle is kept constant. The performance of the navigation strategy is confirmed with computer simulations and experiments with ActivMedia Pioneer 3-DX wheeled robot.

Keywords

Wheeled robotBiologically inspired navigationObstacle avoidance
Type
Article
Information
Robotica , Volume 28 , Issue 5 , September 2010 , pp. 637 - 648
Copyright
Copyright © Cambridge University Press 2009

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