A Monocular Vision Sensor-Based Obstacle Detection Algorithm for Autonomous Robots

The objective of this work is to develop a negative obstacle detection algorithm for a robotic wheelchair. Negative obstacles — depressions in the surrounding terrain including descending stairwells, and curb drop-offs — present highly dangerous navigation scenarios because they exhibit wide characteristic variability, are perceptible only at close distances, and are difficult to detect at normal operating speeds. Negative obstacle detection on robotic wheelchairs could greatly increase the safety of the devices. The approach presented in this paper uses measurements from a single-scan laser range-finder and a microprocessor to detect negative obstacles. A real-time algorithm was developed that monitors time-varying changes in the measured distances and functions through the assumption that sharp increases in this monitored value represented a detected negative obstacle. It was found that LiDAR sensors with slight beam divergence and significant error produced impressive obstacle detection accuracy, detecting controlled examples of negative obstacles with 88% accuracy for 6 cm obstacles and above on a robotic development platform and 90% accuracy for 7.5 cm obstacles and above on a robotic wheelchair. The implementation of this algorithm could prevent life-changing injuries to robotic wheelchair users caused by negative obstacles.

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A ground and obstacle detection algorithm for the visually impaired

2015 IET International Conference on Biomedical Image and Signal Processing (ICBISP 2015) ◽

10.1049/cp.2015.0777 ◽

2015 ◽

Cited By ~ 4

Author(s):

Ruiqi Cheng ◽

Kailun Yang ◽

Kaiwei Wang ◽

Xiangdong Zhao

Keyword(s):

Visually Impaired ◽

Detection Algorithm ◽

Obstacle Detection

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A Novel Method for Tramcar Anti-Collision Warning System Based on Monocular Vision

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.430-432.1871 ◽

2012 ◽

Vol 430-432 ◽

pp. 1871-1876

Author(s):

Hui Bo Bi ◽

Xiao Dong Xian ◽

Li Juan Huang

Keyword(s):

Software Design ◽

Early Warning System ◽

Warning System ◽

Detection Algorithm ◽

Lane Detection ◽

Monocular Vision ◽

System Construction ◽

Collision Warning ◽

Lane Width ◽

Novel Method

For the problem of tramcar collision accident in coal mine underground, a monocular vision-based tramcar anti-collision warning system based on ARM and FPGA was designed and implemented. In this paper, we present an improved fast lane detection algorithm based on Hough transform. Besides, a new distance measurement and early-warning system based on the invariance of the lane width is proposed. System construction, hardware architecture and software design are given in detail. The experiment results show that the precision and speed of the system can satisfy the application requirement.

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Smooth Track-Keeping and Real Time Obstacle Detection Algorithm and its PID Controller Implementation for an Automated Wheeled Line Following Robot

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.201-203.1966 ◽

2011 ◽

Vol 201-203 ◽

pp. 1966-1971 ◽

Cited By ~ 1

Author(s):

Mohammad Rokonuzzaman ◽

Shah Muhammad Ferdous ◽

Enaiyat Ghani Ovy ◽

Md. Ashraful Hoque

Keyword(s):

Mobile Robot ◽

Pid Controller ◽

Material Handling ◽

Moving Objects ◽

Detection Algorithm ◽

Acute Angle ◽

Obstacle Detection ◽

Response Position ◽

Wavy Line ◽

Line Following

Line following automated robots is extensively used in industries for smooth running of production. This paper presents a simple and effective solution for path tracking problem for a wheeled automated mobile robot which can be used for material handling in industries. A PID controller has been used for controlling the robot which is capable of moving safely by smooth track-keeping in partially structured environment without any collision with static or moving objects. The purpose of the project is to build a mobile robot which will provide fast, smooth, accurate and safe movement in any given line or track. A straight or wavy line would be simple to follow whereas aT-junction, 90 degree bends, acute angle bends and grid junctions would be difficult to navigate through. This is due to the physical kinematics constraints which are limited to motor response, position and turning radius of the robot. A line sensor configuration has been proposed to improve the navigation reliability of the mobile robot which uses differential drive system. A dynamic algorithm has been developed for detecting and following a specified line which ensures the reliable and safe movement of the robot.

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