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Low Time Complexity Collision Avoidance Method for Autonomous Mobile Robots

  • Conference paper
Intelligent Systems'2014

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 323))

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Abstract

In this paper we present a fast and reliable method of obstacle avoidance for ground mobile robots both for outdoor and indoor navigation. The method compromises two contradictory approaches: non-complex implementation and human-like smooth steering. The method is applicable in any mobile robotic system regardless of used sensors. All calculations are done on virtual representation of surroundings, where the information about obstacles and a free space is presented in a unified way. The method results in a smooth movement, but is also equipped with a reactive calculation path that handles dangerous and damage-prone situations. The total calculation time for a desktop computer for presented method is 5[ms], resulting in real-time behavior of an algorithm.

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Author information

Authors and Affiliations

  1. Industrial Research Institute for Automation and Measurements, Warsaw, Poland

    Piotr Bigaj & Jakub Bartoszek

Authors
  1. Piotr Bigaj
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  2. Jakub Bartoszek
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Corresponding author

Correspondence to Piotr Bigaj .

Editor information

Editors and Affiliations

  1. Ford Motor Company, Research & Advanced Engineering, Dearborn, Mississippi, USA

    D. Filev

  2. Industrial Research Institute for Automation and Measurements (PIAP), Warsaw, Poland

    J. Jabłkowski

  3. Polish Academy of Sciences, Systems Research Institute, Warsaw, Poland

    J. Kacprzyk

  4. Polish Academy of Sciences and WIT - Warsaw School of Information Technology, Systems Research Institute, Warsaw, Poland

    M. Krawczak

  5. Bulgarian Academy of Sciences, Institute of Information and Communication, Sofia, Bulgaria

    I. Popchev

  6. Department of Computer Engineering, Częstochowa University of Technology, Częstochowa, Poland

    L. Rutkowski

  7. Bulgarian Academy of Sciences, Institute of Information and Communication Technologies, Sofia, Bulgaria

    V. Sgurev

  8. Department of Computer and Information Technologies, “Prof. Assen Zlatarov" University Faculty of Technical Sciences, Bourgas, Bulgaria

    E. Sotirova

  9. Industrial Research Institute for Automation and Measurements (PIAP), Warsaw, Poland

    P. Szynkarczyk

  10. Polish Academy of Sciences, Systems Research Institute, Warsaw, Poland

    S. Zadrozny

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© 2015 Springer International Publishing Switzerland

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Bigaj, P., Bartoszek, J. (2015). Low Time Complexity Collision Avoidance Method for Autonomous Mobile Robots. In: Filev, D., et al. Intelligent Systems'2014. Advances in Intelligent Systems and Computing, vol 323. Springer, Cham. https://doi.org/10.1007/978-3-319-11310-4_13

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  • DOI: https://doi.org/10.1007/978-3-319-11310-4_13

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-11309-8

  • Online ISBN: 978-3-319-11310-4

  • eBook Packages: EngineeringEngineering (R0)

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