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OBSTACLE AVOIDANCE IN AN UNSTRUCTURED ENVIRONMENT FOR THE BEARCAT

by MURTY, VIDYASAGAR

Abstract (Summary)
The Center for Robotics Research at University of Cincinnati does extensive research on mobile robot technologies. The Center developed the Bearcat, an autonomous unmanned vehicle (AUV). The Bearcat can autonomously navigate and avoid a limited configuration of obstacles in a structured environment. This research provides a solution for the Bearcat to navigate autonomously in an unstructured environment. A simple wandering algorithm was developed to avoid obstacles in an unstructured environment. The algorithm uses feedback from a laser scanner. It filters the data received, identifies potential obstacles and accordingly changes the path of the robot to avoid the obstacles based on their configuration. This is achieved by sending explicit motion commands to the motion controller which moves the robot. The algorithm was successfully tested to avoid obstacles in an unstructured environment with certain limitations. The algorithm was also used by the Bearcat in the Autonomous Challenge event at the 11th annual International Ground Vehicles Competition (IGVC) organized by the Association of Unmanned Vehicle Systems International (AUVSI) enabling it to win the fifth place in the competition. The research provides a starting point to build and develop a robust algorithm to address complex, real life issues where the robots have to generate alternate paths to avoid obstacles in a dynamic and unstructured environment.
Bibliographical Information:

Advisor:

School:University of Cincinnati

School Location:USA - Ohio

Source Type:Master's Thesis

Keywords:autonomous ground vehicles obstacle avoidance unstructured environment mobile robots

ISBN:

Date of Publication:01/01/2003

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