Mar
21
2009

Autonomous reactive navigation of a mobile robot with PTGs

Reactive navigation of a mobile robot with Parameterized Trajectory Generators (PTGs) enables using simple obstacle avoidance methods on any-shape, kinematically constrained robots. The video has 3 experiments: PART 1: Our navigation method, using several PTGs simultaneously. PART 2: Comparison to the “classical” approach (only circular arcs). The navigator performs very poorly in this case in comparison to the previous experiment. The advantages of considering many PTGs for finding …

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1 Comment »

  • leonarul

    great projects!! what tools you use for the GUI?is it matlab or vB 6.0?the navigaion path looks smooth and well control and robustness.

    Comment | March 21, 2009

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