Abstract
Industry 4.0 paradigm is boosting the use of mobile robots in industrial applications. They must travel in areas with humans, obstacles and other vehicles. These robots are equipped with sensors such as lidars that allow them to perceive if there are obstacles close to them. This information can be exploited to avoid losses of performance. To do it, it is necessary to define obstacle avoidance algorithms to adjust the path of the robots maintaining a certain safety distance to the obstacles. In this work, an iterative obstacle avoidance for mobile robots is presented. The core idea is to enclose the obstacles in different bounding boxes in an iterative way and using some corners of the bounding boxes points to define the path. The algorithm also decides if the obstacles are avoided from the left or from the right. The algorithm has been intensively validated in simulation with positive results.
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This work was partially supported by the European Commission under the project CoLLaboratE grant agreement 820767.
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Sierra-García, J.E., Millán, M., Santos, M. (2022). Iterative Obstacle Avoidance Algorithm for Mobile Robots. In: Sanjurjo González, H., Pastor López, I., García Bringas, P., Quintián, H., Corchado, E. (eds) 16th International Conference on Soft Computing Models in Industrial and Environmental Applications (SOCO 2021). SOCO 2021. Advances in Intelligent Systems and Computing, vol 1401. Springer, Cham. https://doi.org/10.1007/978-3-030-87869-6_46
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DOI: https://doi.org/10.1007/978-3-030-87869-6_46
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