FAST GOAL NAVIGATION WITH OBSTACLE AVOIDANCE USING A DYNAMIC LOCAL VISUAL MODEL

We introduce an algorithm for navigating to a goal while avoiding obstacles for an autonomous robot, in particular the Sony AIBO robot. The algorithm makes use of the robot’s singl e monocular camera for both localization and obstacle detection. The algorithm builds upon a novel method for representing freespace around the robot that was previously developed for use on the AIBO robot. The algorithm alternates between two different navigation modes. When the area in front of the robot is unobstructed, the robot navigates straight towards the g oal. When the path is obstructed, the robot follows the contours of the obstacles until the way is clear. We show how the algorithm operates in several different experimental envi ronments and provide an analysis of its performance.

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