Topic
Obstacle
About: Obstacle is a research topic. Over the lifetime, 9517 publications have been published within this topic receiving 94760 citations. The topic is also known as: impediment & barrier.
Papers published on a yearly basis
Papers
More filters
18 Jul 2019
TL;DR: An autonomous mobile robot has been developed equipped with Light Detection and Ranging (LiDAR) sensor to avoid obstacle and can navigate inside a room without any impact on the wall or the obstacle.
Abstract: In conditions that are dangerous for humans and their environment, the use of robots can be a solution to overcome these problems. Various sensors are used to determine the obstacle free path and the exact position of the robot. However, conventional sensors have limitations in terms of detection distance, spatial resolution, and processing complexity. In this study, an autonomous mobile robot has been developed equipped with Light Detection and Ranging (LiDAR) sensor to avoid obstacle. Braitenberg vehicle strategy is used to navigate the movements of the robot. Sensor data collection and control algorithm are implemented on a single computer board of Raspberry Pi 3. The experimental results show that this sensor can measure distance consistently which is not affected by the object's color and ambient light intensity. The mobile robot can avoid colored objects of different sizes. This autonomous mobile robot can also navigate inside a room without any impact on the wall or the obstacle.
28 citations
TL;DR: A novel model predictive control strategy for controlling autonomous motion systems moving through an environment with obstacles of general shape is presented, validated by extensive numerical simulations and shown to outperform state-of-the-art solvers in runtime and robustness.
28 citations
Posted Content•
TL;DR: The notion of strictly outward minimising hull for open sets of finite perimeter sitting inside a complete non-compact Riemannian manifold has been investigated in this article, where a maximal volume solution of the least area problem with obstacle is given.
Abstract: The notion of strictly outward minimising hull is investigated for open sets of finite perimeter sitting inside a complete noncompact Riemannian manifold. Under natural geometric assumptions on the ambient manifold, the strictly outward minimising hull $\Omega^*$ of a set $\Omega$ is characterised as a maximal volume solution of the least area problem with obstacle, where the obstacle is the set itself. In the case where $\Omega$ has $\mathscr{C}^{1, \alpha}$-boundary, the area of $\partial \Omega^*$ is recovered as the limit of the $p$-capacities of $\Omega$, as $p \to 1^+$. Finally, building on the existence of strictly outward minimising exhaustions, a sharp isoperimetric inequality is deduced on complete noncompact manifolds with nonnegative Ricci curvature, provided $3 \leq n \leq 7$.
28 citations
Patent•
23 Jul 2004TL;DR: In this paper, an algorithm for controlling the movement of a robot based on visual cues and learning processes is proposed to avoid destabilization and movement interruption by altering the gait measurement.
Abstract: Robots and other mobile apparatus, especially robotic bipeds, that exhibit agile capabilities can become easily destabilized by obstacles or particular surfaces. An algorithm for controlling the movement of a robot based on visual cues and learning processes will help to avoid destabilization and movement interruption by altering the gait measurement. As such, when the robot predicts that an obstacle is upcoming, it can make adjustments by either increasing or decreasing stride so that a smooth transition can be made in bypassing the obstacle.
28 citations
TL;DR: The control scheme proposed in the brief is primarily designed for a communication-free environment where only local state measurements are available and has control input constraints explicitly taken into account.
Abstract: This brief addresses the leader–follower (L-F) tracking control problem for multiple nonholonomic mobile robots in unknown obstacle environments. Unlike most of the existing approaches investigating similar problems, a series of practical issues is considered and tackled in the proposed scheme. For leader tracking, a class of bounded barrier functions are employed to formulate distance and bearing angle constraints introduced by sensor limitations and L-F collision avoidance requirement. To ensure robot safety in unknown environments, a multiregion obstacle avoidance algorithm is proposed which prioritizes different control objectives in different regions. This brief also studies the leader-loss situation, which may be caused by illumination variation, motion blurring, or visual occlusion by obstacles. To deal with this case, a fault-tolerant strategy is designed to drive $F$ to the place where $L$ was lost immediately. The control scheme proposed in the brief is primarily designed for a communication-free environment where only local state measurements are available. Furthermore, it has control input constraints explicitly taken into account. Real robot experiment has been performed to validate the proposed method.
28 citations