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A Heuristic Algorithm for Isolated Obstacle Detection by a Mobile Robot Based on Ranging Data

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Abstract

An algorithm for single isolated obstacle detection by a mobile robot using a range finder is described. The main algorithm block is constructed as a system of production rules that introduce logical relationships that make it possible to determine whether there is an obstacle in the field of normals to the surface. Detected obstacles are plotted on a 2D map. Obstacle mapping methods are discussed.

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Authors and Affiliations

  1. Keldysh Institute of Applied Mathematics, Russian Academy of Sciences, Moscow, 125047, Russia

    V. E. Pavlovsky

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  1. V. E. Pavlovsky
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Correspondence to V. E. Pavlovsky.

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Original Russian Text © V.E. Pavlovsky, 2016, published in Iskusstvennyi Intellekt i Prinyatie Reshenii, 2016, No. 4, pp. 93–105.

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Pavlovsky, V.E. A Heuristic Algorithm for Isolated Obstacle Detection by a Mobile Robot Based on Ranging Data. Sci. Tech. Inf. Proc. 44, 430–439 (2017). https://doi.org/10.3103/S0147688217060077

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