Tham khảo tài liệu 'mobile robots perception & navigation part 14', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Effective Method for Autonomous Simultaneous Localization and Map Building in Unknown Indoor Environments 511 ơp is defined as FreeSpaceCoverRadius. Ơ S is defined as 100mm designed by human experience . ƠV is defined as 200mm s predefined maximum translation velocity . Ơ V is defined as 20mm s designed by human experience . The sampling time for the proposed autonomous exploration strategy is 1s in all the following experiments. Experiments with a real robot In the first experiment the system was tested in a long corridor with widths. The objective of this experiment was to verify the performance when a mobile robot navigated along a corridor. Therefore the minimum range value of the left and right side group sensors are plotted against time and it is shown in Figure 8a. In Figure 8a and b shows that the Pioneer 2DX mobile robot navigated along towards the middle of corridor with a smooth trajectory. Left Right sensor readings vs time Time s -------left sensor right sensor a Left and Right wall distance measured by the left and right sonar. b Snap shots of a Pioneer 2DX navigating along a corridor. Fig. 8. The performance of the proposed HFFS reactive navigation system while navigates along a corridor. 512 Mobile Robots Perception Navigation In the second experiment the proposed reactive navigation system was used to control a Pioneer 2DX navigating in a more complex area where is located at the outside of our research laboratory in the university. Figure 9 shows the robot s information and the robot trajectory during navigation. At starting of the navigation low bottom left in Figure 9b the mobile robot traveled along a corridor. Then the mobile robot turned to right side when the robot s front sensor detected an obstacle at time 70s see Figure 9a . Then the mobile robot started to follow a set of lockers by wall following behavior until it s front sensor detect an obstacle again. Finally it started to follow right hand side object at time 140s. Time s .