Navegação e desvio de obstáculos usando um robô móvel dotado de sensor de varredura laser

Abstract

This work deals with robot navigation in semi-structured environments. Some controllers were designed and implemented, based on reactive behaviors, which assure a safe navigation for a mobile robot when seeking for a goal or following a corridor. While navigating, the robot is also able to avoid obstacles that appear in its path. Two approaches for obstacle avoidance are addressed: a tangential and a non-tangential method. The information about the environment surrounding the robot is collected through a laser scanner installed onboard a PIONEER 2-DX mobile platform. The proposed controllers are validated through simulation and experimentations, always using the mobile robot equipped with the laser scanner. Some of the addressed controllers have been previously proposed elsewhere, but using other sensorial apparatus. The main contribution of this work is to explore the advantages of using these controllers in connection with the laser scanner besides some changes on the controllers designs