A study on intelligent control of mobile robot with ultrasonic sensors

Author

Le, Xuan-Thu ; Oh, Se-Bong ; Park, Duck-Hee ; No, Choon-Soo ; Han, Sung-Hyun

Author_Institution

Kyungnam Univ., Masan

fYear

2007

fDate

17-20 Oct. 2007

Firstpage

77

Lastpage

82

Abstract

We present a new technique to autonomous navigation based on ultrasonic sensors for mobile robots traveling 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; intelligent control; mobile robots; ultrasonic transducers; autonomous navigation; intelligent control; mobile robot; obstacle avoidance; strategic locations; ultrasonic sensors; Gas detectors; Intelligent control; Intelligent sensors; Mechanical systems; Mobile robots; Robot sensing systems; Robotics and automation; Sensor phenomena and characterization; Sensor systems; Sonar navigation; Mobile robot; Obstacle avoidance; Ultrasonic sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems, 2007. ICCAS '07. International Conference on

Conference_Location

Seoul

Print_ISBN

978-89-950038-6-2

Electronic_ISBN

978-89-950038-6-2

Type

conf

DOI

10.1109/ICCAS.2007.4406883

Filename

4406883