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Abstract: We introduce an algorithm for navigation to a goal with obstacle avoidance for the Sony AIBO mobile robot. The algorithm makes use of the robot's single monocular camera for both localization and obstacle detection. The algorithm alternates between two di#erent navigation modes. When the area in front of the robot is unobstructed, the robot navigates straight towards the goal. When the path is obstructed, the robot will follow the contours of the obstacles until the way is clear. (Update)
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BibTeX entry: (Update)
@misc{ local-fast,
author = "Using Dynamic Local",
title = "Fast Goal Navigation with Obstacle Avoidance",
url = "citeseer.ist.psu.edu/764556.html" }
Citations (may not include all citations):1364 A robust layered control system for a mobile robot (context) - Brooks - 1986
161 Probabilistic robot navigation in partially observable envir.. - Simmons, Koenig - 1995
88 Robust monte carlo localization for mobile robots - Thrun, Fox et al. - 2000
64 Occupancy Grids: A Probabilistic Framework for Robot Percept.. (context) - Elfes - 1989
47 MINERVA: A second generation mobile tour-guide robot (context) - Thrun, Bennewitz et al. - 2005
21 CMPack: A complete software system for autonomous legged soc.. - Lenser, Bruce et al. - 2001
18 RoboCup-99: Robot Soccer World Cup III (context) - Veloso, Pagello et al. - 2000
15 An autonomous sensor-based path-planner for planetary micror.. - Laubach, Burdick - 1999
10 Visual sonar: Fast obstacle avoidance using monocular vision - Lenser, Veloso - 2003
9 Motor schema-based robot navigation (context) - Arkin - 1989
5 Fast and accurate vision-based pattern detection and identif.. - Bruce, Veloso - 2003
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