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| Section 2: Obstacle Avoidance |
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• | UM developed a new approach to navigating a mobile robot through
narrow aisles. |
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• | Key requirement: entry, exit, and travel within the aisles be 100%
collision-free |
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• | Requirement hard to meet with sonars,
because of specular reflections and
crosstalk causing false range readings. |
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• | optimized location of sensors |
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• | only accurate radial range used readings
for servoing. |
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• | inaccurate range readings used only for
"yes/no" decisions. |
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