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Obstacle Avoidance and Path Planning Using a Sparse Array of Sonars

Ciocarlie, Matei

This paper proposes an exploration method for robots equipped with a set of sonar sensors that does not allow for complete coverage of the robot's close surroundings. In such cases, there is a high risk of collision with possible undetected obstacles. The proposed method, adapted for use in urban outdoors environments, minimizes such risks while guiding the robot towards a predefined target location. During the process, a compact and accurate representation of the environment can be obtained.

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Academic Units
Computer Science
Publisher
Department of Computer Science, Columbia University
Series
Columbia University Computer Science Technical Reports, CUCS-049-04
Published Here
April 22, 2011