Development of Sensor-Based Navigation for Mobile Robots Using Target Direction Sensor
Motoji Yamamoto, Nobuhiro Ushimi, and Akira Mohri
Department of Intelligent Machinery and Systems, Faculty of Engineering, Kyushu University, 6-10-1 Hakozaki, Higashi-ku, Fukuoka 812-8581, Japan
Sensor-based navigation used a target direction sensor for mobile robots among unknown obstacles in work space is discussed. The advantage of target direction information is robustness of measurement error for online navigation, compared to robot location information. Convergence of navigation using target direction information is discussed. An actual sensor system using two CdS sensors to measure target direction is proposed. Using target direction information, we present a new sensor based navigation algorithm in unknown obstacle environment. The navigation algorithm is based on target direction information, unlike sensor-based motion planning algorithms based on mobile robot location information. Using a sensor-based navigation system, we conducted a navigation experiment and simulations in unknown obstacle environment.