The bubble rebound obstacle avoidance algorithm for mobile robots

Șușnea, Ioan; Filipescu, Adrian; Vasiliu, Grigore; Coman, George; Radaschin, A.

doi:10.1109/icca.2010.5524302

Cited by 15 publications

(9 citation statements)

References 7 publications

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“… It is compatible with some simple, reactive, obstacle avoidance algorithms, like the one described in ( [16]).  It is also compatible with several localization systems.…”

Section: Discussionmentioning

confidence: 78%

On Using Passive RFID Tags to Control Robots for Path Following

Șușnea¹,

Vasiliu²

2011

SIC

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Although very few robots actually go to Mars, we continue to design these machines as if they were organisms operating in a totally unknown and hostile environment. In fact, in most situations, the environment is not only predictable, but it can also be manipulated so that the missions of the autonomous robot may be supported, by including sensors, actuators, computing and communication equipment. One of the most convenient ways to manipulate the environment is to deploy a number of RFID devices, capable of storing a variety of digital data, aimed to provide autonomous robots with valuable navigation information. As a result, the on-board equipment can be significantly reduced, along with the power requirements, and the overall cost of the robots. While the vast majority of the applications of the RFID technology for robot control are related to robot localization and mapping, this paper presents an experiment aimed to demonstrate the possibility of using RFID tags for path following.

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“… It is compatible with some simple, reactive, obstacle avoidance algorithms, like the one described in ( [16]).  It is also compatible with several localization systems.…”

Section: Discussionmentioning

confidence: 78%

On Using Passive RFID Tags to Control Robots for Path Following

Șușnea¹,

Vasiliu²

2011

SIC

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“…And FAHP based weight vector is calculated by following equations (22)- (30). Then the multi-objective decision making is conducted according to the equations (6)- (10). In Figure 9, FAHP based simulation results are displayed.…”

Section: Simulation II (Fahp Based Path Planning)mentioning

confidence: 99%

“…of each heading candidates. Also many of path planning research has been conducted such as bubble rebound algorithm [10], particle swarm optimization [11], dynamic window approach [12], ect. Nevertheless, on-line path planning method for efficient operation of mobile robots is still under study.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy Analytic Hierarchy Process-Based Mobile Robot Path Planning

Kim¹,

Kim²,

Yi³

2019

Preprint

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This study presents a path planning method for a mobile robot to be effectively operated through a multi-objective decision-making problem. Specifically, the proposed Fuzzy analytic hierarchy process (FAHP) determines an optimal position as a sub-goal within the multi-objective boundary. The key features of the proposed FAHP are evaluating the candidates according to the fuzzified relative importance among objectives to select an optimal solution. In order to incorporate FAHP into path planning, an AHP framework is defined, which includes the highest level (goal), middle level (objectives), and the lowest level (alternatives). The distance to the target, robot’s rotation, and safety against collision between obstacles are considered as objective functions. Comparative results obtained from the artificial potential field and AHP/FAHP simulations show that FAHP is much preferable for the mobile robot’s path planning than typical AHP.

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“…Inspired by bubble based approach (BBT) [11], Susnea et al presented BRA. In this algorithm [12], the robot detects obstacles within an area named as sensitivity bubble. After detecting an obstacle, the robot moves in the direction of lowest density.…”

Section: Review and Analysis Of Reported Algorithmsmentioning

confidence: 99%

“…assumes the robot as a point without considering its dimensions [12,14]  The robot's path is only a function of minimum distance to destination [14]  The trajectories followed are sometimes very long and thus the robot may take more time to reach the goal [8,12]  Unidirectional obstacle avoidance approach may further increase traversal time [8]  The strategy does not consider other obstacles during the edge detection process.…”

Section: Features/limitationsmentioning

confidence: 99%

An Improved Algorithm for Collision Avoidance in Environments Having U and H Shaped Obstacles

Zohaib¹,

Pasha²,

Javaid³

et al. 2014

SIC

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This paper proposes a novel obstacle avoidance algorithm for autonomous mobile robot control. The proposed approach brings a solution to the problem of robot traversal in critical shaped environments and offers several advantages compared to the reported approaches. The algorithmic approach, named as, Intelligent Follow the Gap Method (IFGM) is based on improved Intelligent Bug Algorithm (IBA) and Follow the Gap Method (FGM). The robot field of view is taken into consideration. The IBA avoids obstacles by following their edge and scanning the path to destination, thus making the approach goal-oriented avoiding local minimum problem. To characterize the performance of IFGM, various scenarios of obstacles are considered. These scenarios range from having obstacles defined by simple and symmetrical shapes to critical shaped obstacles. The simulation results demonstrate that the algorithm results in safer and smoother trajectories in the presence of obstacles. It offers fast convergence and does not suffer from local minima. Finally, the performance comparison of the proposed algorithm with that of the reported approaches in terms of distance-time plots confirms the efficacy of the presented approach. The proposed algorithm lends itself to future implementations in the navigation of mobile and industrial robots, especially in applications exhibiting crucial time and critical obstacles including disaster management, spy, elderly people assistance and soccer games.

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The bubble rebound obstacle avoidance algorithm for mobile robots

Cited by 15 publications

References 7 publications

On Using Passive RFID Tags to Control Robots for Path Following

On Using Passive RFID Tags to Control Robots for Path Following

Fuzzy Analytic Hierarchy Process-Based Mobile Robot Path Planning

An Improved Algorithm for Collision Avoidance in Environments Having U and H Shaped Obstacles

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