Collision avoidance using a vector field algorithm

Roomba autonomously navigating a slalom course using 3 Parallax Ping sonars with propeller microcontroller. A Vector field algorithm is used to update a grid of cells that informs the roomba of the direction to steer in. Obstacles detected by the sonars inject repulsive fields in the vector field while the goal injects vectors pointing to the goal. Using vector averaging an overall direction can be computed. All computation takes place on the on board hp netbook.

Category:

Science & Technology

Tags:

• roomba
• autonomous
• robot
• collision avoidance
• vector field