Authors:
Carlos Morais
;
Tiago Nascimento
;
Alisson Brito
and
Gabriel Basso
Affiliation:
Federal University of Paraiba (UFPB), Brazil
Keyword(s):
3D Anti-collision System, Artificial Potential Field, Mobile Robot, Kinect.
Related
Ontology
Subjects/Areas/Topics:
Agents
;
Artificial Intelligence
;
Robot and Multi-Robot Systems
Abstract:
Anti-collision systems are based on sensing and estimating the mobile robot pose (coordinates and orientation),
with respect to its environment. Obstacles detection, path planning and pose estimation are primordial to
ensure the autonomy and safety of the robot, in order to reduce the risk of collision with objects and living
beings that share the same space. For this, the use of RGB-D sensors, such as the Microsoft Kinect, has
become popular in the past years, for being relative accurate and low cost sensors. In this work we proposed
a new 3D anti-collision algorithm based on Artificial Potential Field method, that is able to make a mobile
robot pass between closely spaced obstacles, while also minimizing the oscillations during the cross. We
develop our Unmanned Ground Vehicles (UGV) system on a ’Turtlebot 2’ platform, with which we perform
the experiments.