A Technology of Obstacle Avoidance of Mobile Robot

다국어 초록 (Multilingual Abstract)

We propose a new technique for autonomous navigation and travelling of mobile robot based on ultrasonic sensors through the narrow labyrinth that leave only distance of 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 good firing rate, implemented here for optimal performance. This paper presents an extensively tested and verified solution to the problem of obstacle avoidance. 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 accurate travelling.

참고문헌 (Reference)

1 Crowley, J. L., "World Modeling and Position Estimation for a Mobile Robot Using Ultrasonic Ranging" 14 (14): 674-680, 1989

2 Moravec, H. P., "Sensor Fusion in Certainty Grids for Mobile Robots" 61-74, 1988

3 Borenstein, J., "Real-time Obstacle Avoidance for Fast Mobile Robots" 19 (19): 1179-1187, 1989

4 Borenstein, J., "Obstacle Avoidance With Ultrasonic Sensors" RA-4 (RA-4): 213-218, 1988

5 Kuc, R., "Navigating Vehicles Through an Unstructured Environment With Sonar" 14 (14): 1422-1426, 1989

6 Everett, H. R., "Modeling the Environment of a Mobile Security Robot" Naval Ocean Systems Center 1990

7 Buchenberger, M., "Laserradar and Sonar-based World Modelling" 10 (10): 534-541, 1993

8 Flynn, A. M., "Combining Sonar and Infrared Sensors for Mobile Robot Navigation" 7 (7): 5-14, 1988

9 Holenstein, A. A., "Collision Avoidance in a Behavior-based Mobile Robot Design" 898-90, 1991

10 Bozma, Ö., "Characterizing Pulses Reflected From Rough Surfaces Using Ultrasound" 89 (89): 2519-2531, 1991

11 Pin, F. G., "Autonomous Mobile Robot Research Using the Hermies-III Robot" 1989