Autonomous navigation for a differential drive robot in a partially known environment

Tomás Olvera; Jesús Alemán; Ulises Orozco-Rosas; Kenia Picos

doi:10.1117/12.2528517

6 September 2019 Autonomous navigation for a differential drive robot in a partially known environment

Tomás Olvera, Jesús Alemán, Ulises Orozco-Rosas, Kenia Picos

Proceedings Volume 11136, Optics and Photonics for Information Processing XIII; 111360Q (2019) https://doi.org/10.1117/12.2528517
Event: SPIE Optical Engineering + Applications, 2019, San Diego, California, United States

Abstract

This paper presents a proposed algorithm with the implementation of the A* algorithm for path planning in a partially known environment. By using a differential mobile robot, the navigation is accomplished with a LiDAR sensor that detects any potential changes in the environment. The proposed algorithm estimates a safety path-planning trajectory from the origin of the robot to a target coordinate given by the user. If the robot encounters an unknown obstacle that does not belong to the known environment it will update the map, and recalculate the trajectory, executing it and proceed with the new path. Experimental results were considered in an indoors cluttered environment given by unknown obstacles, and partially known maps.

Conference Presentation

Citation Download Citation

Tomás Olvera, Jesús Alemán, Ulises Orozco-Rosas, and Kenia Picos "Autonomous navigation for a differential drive robot in a partially known environment", Proc. SPIE 11136, Optics and Photonics for Information Processing XIII, 111360Q (6 September 2019); https://doi.org/10.1117/12.2528517

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