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- W2340713063 abstract "One of the key aspects of robot navigation in an unknown environment such as a free range chicken farm is obstacle avoidance. The bug algorithms are the most basic and popular obstacle avoidance algorithms and rely on two behaviours of robot navigation: boundary following and motion to goal. Tactile sensors are commonly employed to enable robots to follow the boundary of obstacles that are of irregular shape closely. However, they are not ideal in cases where contact with the obstacle is undesirable. Ultrasonic sensors such as SRF05 are cost effective and have good distance resolution, but suffer from poor angular resolution referred to as azimuth resolution. This paper explores methods of overcoming poor azimuth resolution such as the centreline sensor model, common tangent method and the arc transversal median algorithm in the context of implementing a hybrid bug algorithm and proposes a combination of these techniques to enable boundary following using sensors with poor azimuth resolution." @default.
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- W2340713063 date "2013-01-01" @default.
- W2340713063 modified "2023-09-26" @default.
- W2340713063 title "Implementing a hybrid bug algorithm using low cost ultrasonic sensors for navigation on free range chicken farms" @default.
- W2340713063 hasPublicationYear "2013" @default.
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