Scientific and Technical Information Processing

, Volume 44, Issue 6, pp 430–439 | Cite as

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

  • V. E. Pavlovsky


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.


mobile robot range finder production system 


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© Allerton Press, Inc. 2017

Authors and Affiliations

  1. 1.Keldysh Institute of Applied MathematicsRussian Academy of SciencesMoscowRussia

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