Obstacle avoidance of a mobile robot using vision system and ultrasonic sensor

  • Authors:

  • Pil Gyeom Kim;Chang Gun Park;Yun Ho Jong;Jea ho Yun;Eun Jong Mo;Chin Su Kim;Min Seok Jie;Soo Chan Hwang;Kang Woong Lee

  • Affiliations:

  • School of Electronics, Telecommunication and Computer Engineering, Korea Aerospace University, Koyang-city, Kyonggi-do, Korea;School of Electronics, Telecommunication and Computer Engineering, Korea Aerospace University, Koyang-city, Kyonggi-do, Korea;School of Electronics, Telecommunication and Computer Engineering, Korea Aerospace University, Koyang-city, Kyonggi-do, Korea;School of Electronics, Telecommunication and Computer Engineering, Korea Aerospace University, Koyang-city, Kyonggi-do, Korea;School of Electronics, Telecommunication and Computer Engineering, Korea Aerospace University, Koyang-city, Kyonggi-do, Korea;School of Electronics, Telecommunication and Computer Engineering, Korea Aerospace University, Koyang-city, Kyonggi-do, Korea;Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, Korea;School of Electronics, Telecommunication and Computer Engineering, Korea Aerospace University, Koyang-city, Kyonggi-do, Korea;School of Electronics, Telecommunication and Computer Engineering, Korea Aerospace University, Koyang-city, Kyonggi-do, Korea

  • Venue:
  • ICIC'07 Proceedings of the intelligent computing 3rd international conference on Advanced intelligent computing theories and applications
  • Year:
  • 2007

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Abstract

This paper proposes obstacle collision avoidance algorithm for a mobile robot. To navigate without colliding with obstacles the mobile robot uses both the vision system approach and edge detection approach using ultrasonic sensor. The vision system approach is used when the obstacle is located more than 2 meters away from the mobile robot, and the edge detection approach using ultrasonic sensor is used for detecting obstacle remains within 2 meters range. The collision avoidance algorithm proposed in this paper utilizes both the limit-cycle method and the nearness diagram navigation method. The proposed method is tested using Pioneer 2-DX mobile robot. Through experiment, the effectiveness of proposed methods for navigating a mobile robot in the dynamic environment is demonstrated.