Experimental Validation of an Intelligent Obstacle Avoidance Algorithm with an Omnidirectional Mobile Robot for Dynamic Obstacle Avoidance

摘要

With the expansion of mobile robot applications, their interactions with humans and their environments have significantly increased, emphasizing the need for enhanced maneuverability and improved environmental detection systems. This work presents the design, development, and control of a mobile robot implemented as a Cyber-Physical System (CPS). The robot communicates wirelessly within networked environments and is equipped with intelligent environmental detection systems compatible with the Robot Operating System (ROS). The robot is capable of moving independently in three degrees of freedom using omnidirectional wheels for high maneuverability. Design of an algorithm that enables the robot to navigate in crowded environments, avoiding dynamic human objects while reaching its target is presented. This algorithm calculates weighted motion factors by considering obstacles, gaps, and targets. Different experimental test scenarios are performed for proof of concept.