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.



More About This Work

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