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Development of Master-slave Robot System - Obstacle avoidance algorithm -

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan

Citation:  Pp. 432-441 in Automation Technology for Off-Road Equipment, Proceedings of the July 26-27, 2002 Conference (Chicago, Illinois, USA)  701P0502.(doi:10.13031/2013.10065)
Authors:   Noboru Noguchi, Jeff Will, Kazunobu Ishii, John Reid
Keywords:   Agricultural mobile robot, multiple robots system, obstacle avoidance

The objective of the study is to develop control system of autonomous mobile robots for farming operation. One of the goals of this study is to investigate the use of mobile robots with as little as possible centralized control. The key solution to this decentralization problem is to give more autonomy to the vehicles to allow them to cope with unexpected events and obstacles, inaccurate environment model, other vehicles, and so on. This high level of autonomy is achieved using advanced sensor-based capabilities (for localization, obstacle detection and modeling) as well as planning and deliberation between the robots through local communication and coordination. In such context, the dynamics of the environment, the impossibility to correctly estimate the duration of actions (the robots may be slowed down due to obstacle avoidance or re-localization actions, and so on) prevent a central system from elaborating long or medium term efficient and reliable detailed robot plans. In this study, we focus on obstacle avoidance of the multi-robot. Two robot tractors were employed as multi-robot system. Two robots have local communication ability and an own controller. The robot, which detected the moving obstacle, could take an action to avoid clash by selecting slow-down and generating intermediate pathway.

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