Abstract

Wheeled mobile robot as an autonomous vehicle that operate in indoor environment must be equipped with the ability to navigate from the initial position to the target. In the workspace with narrow passage such as office, capability to plan and track the path have to be completed with precise reaction to avoid other objects. This paper presents the development of navigation approach of an autonomous indoor vehicle in office environment. For the global path planning, Probabilistic Road Map is used to generate waypoints. Pure Pursuit is devised to track these points. For the local path planning, we propose to modify steering property of Velocity Obstacles based on distances read by LIDAR sensor. For evaluating our approach, the proposed indoor navigation is implemented in simulations for a two-wheeled differential-steering mobile robot. The results shows that our approach was able to avoid static obstacles when navigating the robot to cover a distance of 13.04 meters from the initial position to reach the target position in an environment with a limited area within 3.65 minutes using an average angular velocity of 0.02 rad/s.

Original languageEnglish
Title of host publicationProceedings - 2020 International Seminar on Intelligent Technology and Its Application
Subtitle of host publicationHumanification of Reliable Intelligent Systems, ISITIA 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages83-88
Number of pages6
ISBN (Electronic)9781728174136
DOIs
Publication statusPublished - Jul 2020
Event2020 International Seminar on Intelligent Technology and Its Application, ISITIA 2020 - Virtual, Online, Indonesia
Duration: 22 Jul 202023 Jul 2020

Publication series

NameProceedings - 2020 International Seminar on Intelligent Technology and Its Application: Humanification of Reliable Intelligent Systems, ISITIA 2020

Conference

Conference2020 International Seminar on Intelligent Technology and Its Application, ISITIA 2020
Country/TerritoryIndonesia
CityVirtual, Online
Period22/07/2023/07/20

Keywords

  • Differential-steering wheeled mobile robot
  • Indoor navigation
  • Probabilistic Road Map
  • Pure Pursuit
  • Velocity Obstacles

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