Visual and sonar data fusion for path following and obstacle avoidance by non-holonomic mobile robot

  • Authors:

  • Amar Rezoug;Mohand Saïd Djouadi

  • Affiliations:

  • Laboratoire robotique & productique, Ecole militaire polytechnique, Alger, Algéérie;Laboratoire robotique & productique, Ecole militaire polytechnique, Alger, Algéérie

  • Venue:
  • CSECS'08 Proceedings of the 7th conference on Circuits, systems, electronics, control and signal processing
  • Year:
  • 2008

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Abstract

this paper aims to contribute in mobile robots endowment with autonomy when accomplishing robotic taske. The problem treated concerns not only path following by non-holonomic robot (pioneer II DX) using visual data coming from CCD camera mounted on the latter, but also obstacle avoidance using data coming from front robot sonar battery. Thanks to the visual data, the robot is visually servoied to a ground coloured line. The possible or dynamic obstacles on the robot trajectory are avoided using Fuzzy approach exploiting sonar data. Finally experimental result are presented.