Obstacle avoidance in a collaborative environment

Gourab Sen Gupta; Serge Demidenko; Chris Messom

doi:10.1109/IMTC.2008.4547181

Obstacle avoidance in a collaborative environment

Gourab Sen Gupta, Serge Demidenko, Chris Messom

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

Abstract

This paper describes an obstacle avoidance algorithm which constructs an obstacle-free navigation path for a robot to move from one point to another in its workspace. The A* search algorithm has been employed to find the shortest possible path. The algorithm has been tested and validated on the robot soccer platform for diferent number of obstacles (other robots and boundary walls) placed in various formations. The processing is completed well within the real-time constraints of the system. Both simulation and actual test results are presented. The test results exemplify the suitability of the algorithm. The aim of the reported work is to allow a fast moving robot to freely navigate a terrain in the presence of obstacles. ©2008 IEEE.

Original language	English
Title of host publication	2008 IEEE International Instrumentation and Measurement Technology Conference Proceedings
Place of Publication	United States
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	991-996
Number of pages	6
ISBN (Print)	1-4244-1541-1
DOIs	https://doi.org/10.1109/IMTC.2008.4547181
Publication status	Published - 15 Sept 2008
Externally published	Yes
Event	IEEE International Instrumentation and Measurement Technology Conference 2008 - Fairmont Express Hotel & Victoria Conference Center, Victoria, Canada Duration: 12 May 2008 → 15 May 2008 Conference number: 25th https://ieeexplore.ieee.org/xpl/conhome/4539706/proceeding (IEEE Conference Proceedings)

Conference

Conference	IEEE International Instrumentation and Measurement Technology Conference 2008
Abbreviated title	I2MTC 2008
Country/Territory	Canada
City	Victoria
Period	12/05/08 → 15/05/08
Internet address	https://ieeexplore.ieee.org/xpl/conhome/4539706/proceeding (IEEE Conference Proceedings)

Keywords

A* search algorithm
Artificial potential field
Global vision
Obstacle avoidance
Robot soccer

Access to Document

10.1109/IMTC.2008.4547181

Cite this

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title = "Obstacle avoidance in a collaborative environment",

abstract = "This paper describes an obstacle avoidance algorithm which constructs an obstacle-free navigation path for a robot to move from one point to another in its workspace. The A* search algorithm has been employed to find the shortest possible path. The algorithm has been tested and validated on the robot soccer platform for diferent number of obstacles (other robots and boundary walls) placed in various formations. The processing is completed well within the real-time constraints of the system. Both simulation and actual test results are presented. The test results exemplify the suitability of the algorithm. The aim of the reported work is to allow a fast moving robot to freely navigate a terrain in the presence of obstacles. {\textcopyright}2008 IEEE.",

keywords = "A* search algorithm, Artificial potential field, Global vision, Obstacle avoidance, Robot soccer",

author = "{Sen Gupta}, Gourab and Serge Demidenko and Chris Messom",

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doi = "10.1109/IMTC.2008.4547181",

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publisher = "IEEE, Institute of Electrical and Electronics Engineers",

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Sen Gupta, G, Demidenko, S & Messom, C 2008, Obstacle avoidance in a collaborative environment. in 2008 IEEE International Instrumentation and Measurement Technology Conference Proceedings. IEEE, Institute of Electrical and Electronics Engineers, United States, pp. 991-996, IEEE International Instrumentation and Measurement Technology Conference 2008, Victoria, British Columbia, Canada, 12/05/08. https://doi.org/10.1109/IMTC.2008.4547181

Obstacle avoidance in a collaborative environment. / Sen Gupta, Gourab; Demidenko, Serge; Messom, Chris.
2008 IEEE International Instrumentation and Measurement Technology Conference Proceedings. United States: IEEE, Institute of Electrical and Electronics Engineers, 2008. p. 991-996.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

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Obstacle avoidance in a collaborative environment

Abstract

Conference

Keywords

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