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Richard's Project Page - RISE summer 2005 |
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Intern: Richard Quinto, Electrical Engineering, California State University, Los Angeles
Mentor: Ricardo G. Sanfelice
Faculty Supervisor: Joao Hespanha
Department: Electrical and Computer Engineering, UCSB |
OBJECT AVOIDANCE FOR GENERAL NAVIGATION SYSTEMS
Scientists are developing new ideas to improve navigation systems.
One possible answer is by intelligent design that provides a number of
properties desired by the users. Safety is a primary concern in transportation,
in addition to comfort and several standard norms of security. Object
Avoidance for General Navigation Systems offers that comfort. In this
paper we present an algorithm for a wheeled mobile robot of the unicycle type
that approaches a desired target while avoiding obstacles. We program the
robot in C++ along with the libraries of the ActivMedia Robotics Interface
for Application (ARIA) software to accomplish the desired task. We tested our
algorithms on a Pioneer 2 robot from ActivMedia Robotics and we present the obtained results.
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