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Proceedings Paper

Virtual force field based obstacle avoidance and agent based intelligent mobile robot
Author(s): Saurabh Sarkar; Scott Reynolds; Ernest Hall
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Paper Abstract

This paper presents a modified virtual force based obstacle avoidance approach suited for laser range finder. The modified method takes advantage of the polar coordinate based data sent by the laser sensor by mapping the environment in a polar coordinate system. The method also utilizes a Gaussian function based certainty values to detect obstacle. The method successfully navigates through complex obstacles and reaches target GPS waypoints.

Paper Details

Date Published: 10 September 2007
PDF: 12 pages
Proc. SPIE 6764, Intelligent Robots and Computer Vision XXV: Algorithms, Techniques, and Active Vision, 67640R (10 September 2007); doi: 10.1117/12.734691
Show Author Affiliations
Saurabh Sarkar, Univ. of Cincinnati (United States)
Scott Reynolds, Univ. of Cincinnati (United States)
Ernest Hall, Univ. of Cincinnati (United States)


Published in SPIE Proceedings Vol. 6764:
Intelligent Robots and Computer Vision XXV: Algorithms, Techniques, and Active Vision
David P. Casasent; Ernest L. Hall; Juha Röning, Editor(s)

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