A comprehensive obstacle avoidance system of mobile robots using an adaptive threshold clustering and the morphin algorithm

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dc.contributor.authorYuan Chen, Meng Yuan
dc.contributor.authorWu, Yong Jian
dc.contributor.authorHe, Hongmei
dc.date.accessioned2019-01-09T10:38:59Z
dc.date.available2019-01-09T10:38:59Z
dc.date.issued2018-12-31
dc.description.abstractTo solve the problem of obstacle avoidance for a mobile robot in unknown environment, a comprehensive obstacle avoidance system (called ATCM system) is developed. It integrates obstacle detection, obstacle classification, collision prediction and obstacle avoidance. Especially, an Adaptive-Threshold Clustering algorithm is developed to detect obstacles, and the Morphin algorithm is applied for path planning when the robot predicts a collision ahead. A dynamic circular window is set to continuously scan the surrounding environment of the robot during the task period. The simulation results show that the obstacle avoidance system enables robot to avoid any static and dynamic obstacles effectively.en_UK
dc.identifier.citationChen M.Y., Wu Y.J., He H. (2019) A Comprehensive Obstacle Avoidance System of Mobile Robots Using an Adaptive Threshold Clustering and the Morphin Algorithm. In: Advances in Computational Intelligence Systems. UKCI 2018. Advances in Intelligent Systems and Computing, Vol. 840en_UK
dc.identifier.isbn978-3-319-97981-6
dc.identifier.urihttps://doi.org/10.1007/978-3-319-97982-3_26
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/13801
dc.language.isoenen_UK
dc.publisherSpringeren_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectAdaptive threshold clusteringen_UK
dc.subjectMorphin algorithmen_UK
dc.subjectObstacle detectionen_UK
dc.subjectObstacle classificationen_UK
dc.subjectCollision predictionen_UK
dc.subjectCollision avoidanceen_UK
dc.titleA comprehensive obstacle avoidance system of mobile robots using an adaptive threshold clustering and the morphin algorithmen_UK
dc.typeConference paperen_UK

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