DocumentCode :
1610536
Title :
A study on obstacle avoidance of mobile robot
Author :
Nguyen, Van-Quyet ; Oh, Se-Bong ; Ro, Hyen-Chul ; Cho, Chang-Jae ; Han, Sung-Hyun
Author_Institution :
Div. of Mech. Syst. Eng., Kyungnam Univ., Masan
fYear :
2008
Firstpage :
2384
Lastpage :
2389
Abstract :
We present a new technique to autonomous navigation based on ultrasonic sensors for mobile robots travelling through the narrow aisle that leave only a few centimeters on each side between the guides and the robot. In our current implementation the ultrasonic sensor system fires at a rate of 100 ms, that is, each of the 8 sensors fires once during each 100 ms interval. This is a very fast firing rate, implemented here for optimal performance. This paper presents an extensively tested and verified solution to the problem. Our solution is based on the optimal placement of ultrasonic sensors at strategic locations around the robot. Both the sensor location and the associated navigation algorithm are defined in such a way that only the accurate radial sonar data is used for servoing.
Keywords :
collision avoidance; mobile robots; ultrasonic transducers; autonomous navigation; mobile robot; obstacle avoidance; optimal placement; ultrasonic sensors; Control systems; Fuzzy control; Intelligent sensors; Mechanical systems; Mobile robots; Robot sensing systems; Robotics and automation; Sensor systems; Sonar navigation; Testing; Autonomous Navigation; Mobile Robot; Obstacle Avoidance; Ultrasonic Sensors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-9-3
Electronic_ISBN :
978-89-93215-01-4
Type :
conf
DOI :
10.1109/ICCAS.2008.4694205
Filename :
4694205
Link To Document :
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