Obstacle avoidance algorithm for visual navigation using ultrasonic sensors and a CCD camera

2003 ◽  
Vol 7 (3) ◽  
pp. 132-135 ◽  
Author(s):  
S. Choi ◽  
T. Jin ◽  
J. Lee
Keyword(s):  
Obstacle Avoidance ◽  
Ccd Camera ◽  
Visual Navigation ◽  
Ultrasonic Sensors

Design of Obstacle Avoidance Detection Based on Substation Intelligent Inspection Robot

2013 ◽  
Vol 748 ◽  
pp. 695-698
Author(s):  
Hai Peng Wang ◽  
Yong Sun ◽  
Peng Xiao ◽  
Yi Qing Luan
Keyword(s):  
Real Time ◽  
Obstacle Avoidance ◽  
Detection System ◽  
Measurement Precision ◽  
Ultrasonic Signal ◽  
System Software ◽  
Ultrasonic Sensors ◽  
Inspection Robot ◽  
High Measurement ◽  
Environmental Requirements

The obstacle avoidance system is an important part of the intelligent inspection robot. According to the special environmental requirements for substation inspection robot, the inspection robot obstacle avoidance detection system was designed. The system takes MCU as the controller core, selects many sets of ultrasonic sensors to detect the obstacle information around the robot, designs the transmitting and receiving circuit of the ultrasonic signal, and completes the system software program. In consideration of the substations effect of EMI to the electronic equipments, when designing circuit, using a large of filter circuit, improve systems anti-interference performance, realize real-time and veracity of measurement. Using on substation shows that the system run steadily, have high measurement precision, its important for improving the robot using on substation.

scholarly journals Obstacle Avoidance System for Unmanned Ground Vehicles by Using Ultrasonic Sensors

Machines ◽  
2018 ◽  
Vol 6 (2) ◽  
pp. 18 ◽  
Author(s):  
Marco De Simone ◽  
Zandra Rivera ◽  
Domenico Guida
Keyword(s):  
Obstacle Avoidance ◽  
Unmanned Ground Vehicles ◽  
Ground Vehicles ◽  
Ultrasonic Sensors

scholarly journals Autonomous Visual Navigation and Laser-Based Moving Obstacle Avoidance

2014 ◽  
Vol 15 (5) ◽  
pp. 2101-2110 ◽  
Author(s):  
Andrea Cherubini ◽  
Fabien Spindler ◽  
Francois Chaumette
Keyword(s):  
Obstacle Avoidance ◽  
Visual Navigation ◽  
Moving Obstacle

Motion Path Control of Multi-DOF Handling Manipulator in Industrial Field Based on Vision and C-Space Obstacle Avoidance

2012 ◽  
Vol 522 ◽  
pp. 638-642 ◽  
Author(s):  
Di Jian Chen ◽  
Xiao Dong Zhang
Keyword(s):  
Obstacle Avoidance ◽  
Ccd Camera ◽  
Motion Path ◽  
Control Approach ◽  
Path Control ◽  
Edge Detecting ◽  
Variable Step ◽  
Simulation And Experiment ◽  
Coordinate Conversion ◽  
Free Area

In order to realize the intelligentization of the multi-DOF handling manipulator in the industrial field, this paper presents a motion path control approach which combines the vision based identification and localization and C-space (Configuration space) based obstacle avoidance planning. The objects in the image captured by CCD camera can be extracted by gray processing, background subtraction, binarization, and edge detecting, the work pieces and the obstacles can be matched based on roundness and squareness, and then the coordinates of above objects can be obtained by parallax and coordinate conversion. In addition, both the source and destination coordinates in C-space can be obtained by mapping these configurations position and orientation into C-space, and the motion path can be automatically generated by variable step A* search in free area which is built based on solid manipulator model, then the handling work can be finished and obstacle avoidance can also be realized. The results of simulation and experiment demonstrate the scientificalness and effectiveness of this control approach.

scholarly journals Behavior Selection Based Navigation and Obstacle Avoidance Approach Using Visual and Ultrasonic Sensory Information for Quadruped Robots

10.5772/6234 ◽  
2008 ◽  
Vol 5 (4) ◽  
pp. 41 ◽  
Author(s):  
Kiyotaka Izumi ◽  
Maki K. Habib ◽  
Keigo Watanabe ◽  
Ryoichi Sato
Keyword(s):  
Real Time ◽  
Obstacle Avoidance ◽  
Sensory Information ◽  
Quadruped Robot ◽  
Fine Tuning ◽  
Ultrasonic Sensors ◽  
Quadruped Robots ◽  
Step Over ◽  
Over Time ◽  
Behavior Selection

A robot functioning in an environment may exhibit various forms of behavior emerge from the interaction with its environment through sense, control and plan activities. Hence, this paper introduces a behaviour selection based navigation and obstacle avoidance algorithm with effective method for adapting robotic behavior according to the environment conditions and the navigated terrain. The developed algorithm enable the robot to select the suitable behavior in real-time to avoid obstacles based on sensory information through visual and ultrasonic sensors utilizing the robot's ability to step over obstacles, and move between surfaces of different heights. In addition, it allows the robot to react in appropriate manner to the changing conditions either by fine-tuning of behaviors or by selecting different set of behaviors to increase the efficiency of the robot over time. The presented approach has been demonstrated on quadruped robot in several different experimental environments and the paper provides an analysis of its performance.

Multi-Sensor Fusion for Robot Positioning Based on Dempster-Shafer Methods

2000 ◽  
Author(s):  
Weidong Qu ◽  
Zhongliang Jing ◽  
Yugeng Xi
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Sensor Fusion ◽  
High Performance ◽  
Positioning System ◽  
Laser Rangefinder ◽  
Ultrasonic Sensors ◽  
Robot Positioning ◽  
Video Sensors

Abstract This paper presents a high-performance positioning module for the mobile robot. The mobile robot is equipped with the internal and external sensors. Internal sensors are the acceleration gyroscopes. The positioning system makes use of the features of the external sensors to improve its performance: laser rangefinder ultrasonic sensors and video sensors, which were originally designed for mapping and obstacle avoidance modules, the positioning modules has demonstrated the system to work successfully in complex and uncertainty environments.

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