Obstacle Avoidance System Based on Single Rotary Ultrasonic Sensor

2011 ◽  
Vol 55-57 ◽  
pp. 521-526
Author(s):  
Guang Zhao Cui ◽  
Wen Juan Wei ◽  
Jin Chao Guo
Keyword(s):  
Data Processing ◽  
Obstacle Avoidance ◽  
Horizontal Plane ◽  
Ultrasonic Sensor ◽  
Experimental Results ◽  
Stepper Motor ◽  
World Model ◽  
Safe Area ◽  
Round Obstacle ◽  
Avoidance Problem

Centering round obstacle avoidance problem, an evadible system based on the ultrasonic sensor Sens600 is presented in this paper, the sensor rotated by the stepper motor scans back and forth in horizontal plane ahead of the robot, then the system builds and updates a histogram world model with the to-and-fro range information after data processing, the safe area capture (SAC) method is applied to compute the most suitable direction among all candidates, and the steering of the robot is aligned with that direction. The experimental results demonstrate the feasibility and effectiveness of the proposed system.

scholarly journals Formation Control and Obstacle Avoidance Algorithm of a Multi-USV System Based on Virtual Structure and Artificial Potential Field

2021 ◽  
Vol 9 (2) ◽  
pp. 161
Author(s):  
Xun Yan ◽  
Dapeng Jiang ◽  
Runlong Miao ◽  
Yulong Li
Keyword(s):  
Obstacle Avoidance ◽  
Potential Field ◽  
Formation Control ◽  
Shape Change ◽  
Artificial Potential Field ◽  
Generation Algorithm ◽  
Time Performance ◽  
Movement Ability ◽  
Window Approach ◽  
Avoidance Problem

This paper proposes a formation generation algorithm and formation obstacle avoidance strategy for multiple unmanned surface vehicles (USVs). The proposed formation generation algorithm implements an approach combining a virtual structure and artificial potential field (VSAPF), which provides a high accuracy of formation shape keeping and flexibility of formation shape change. To solve the obstacle avoidance problem of the multi-USV system, an improved dynamic window approach is applied to the formation reference point, which considers the movement ability of the USV. By applying this method, the USV formation can avoid obstacles while maintaining its shape. The combination of the virtual structure and artificial potential field has the advantage of less calculations, so that it can ensure the real-time performance of the algorithm and convenience for deployment on an actual USV. Various simulation results for a group of USVs are provided to demonstrate the effectiveness of the proposed algorithms.

scholarly journals Research on path planning of three-neighbor search A* algorithm combined with artificial potential field

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110264
Author(s):  
Jiqing Chen ◽  
Chenzhi Tan ◽  
Rongxian Mo ◽  
Hongdu Zhang ◽  
Ganwei Cai ◽  
...  
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Potential Field ◽  
Path Length ◽  
Search Time ◽  
Experimental Results ◽  
Artificial Potential Field ◽  
A Algorithm ◽  
Neighbor Search

Among the shortcomings of the A* algorithm, for example, there are many search nodes in path planning, and the calculation time is long. This article proposes a three-neighbor search A* algorithm combined with artificial potential fields to optimize the path planning problem of mobile robots. The algorithm integrates and improves the partial artificial potential field and the A* algorithm to address irregular obstacles in the forward direction. The artificial potential field guides the mobile robot to move forward quickly. The A* algorithm of the three-neighbor search method performs accurate obstacle avoidance. The current pose vector of the mobile robot is constructed during obstacle avoidance, the search range is narrowed to less than three neighbors, and repeated searches are avoided. In the matrix laboratory environment, grid maps with different obstacle ratios are compared with the A* algorithm. The experimental results show that the proposed improved algorithm avoids concave obstacle traps and shortens the path length, thus reducing the search time and the number of search nodes. The average path length is shortened by 5.58%, the path search time is shortened by 77.05%, and the number of path nodes is reduced by 88.85%. The experimental results fully show that the improved A* algorithm is effective and feasible and can provide optimal results.

Application of Immune Genetic Algorithm in Survey Data Processing

2012 ◽  
Vol 241-244 ◽  
pp. 1737-1740
Author(s):  
Wei Chen
Keyword(s):  
Genetic Algorithm ◽  
Immune System ◽  
Data Processing ◽  
Survey Data ◽  
Heuristic Algorithm ◽  
Experimental Results ◽  
Immune Genetic Algorithm ◽  
Basic Principles ◽  
Immune Operator ◽  
Biological Immune System

The immune genetic algorithm is a kind of heuristic algorithm which simulates the biological immune system and introduces the genetic operator to its immune operator. Conquering the inherent defects of genetic algorithm that the convergence direction can not be easily controlled so as to result in the prematureness；it is characterized by a better global search and memory ability. The basic principles and solving steps of the immune genetic algorithm are briefly introduced in this paper. The immune genetic algorithm is applied to the survey data processing and experimental results show that this method can be practicably and effectively applied to the survey data processing.

A New Approach for Autonomous Robot Obstacle Avoidance Using PSD Infrared Sensor Combined with Digital Compass

2014 ◽  
Vol 511-512 ◽  
pp. 101-104 ◽  
Author(s):  
Yang Xue ◽  
Jun Tao Yang ◽  
Ya Ling Dong ◽  
Jia Li Shen ◽  
Ru Peng ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Obstacle Avoidance ◽  
Autonomous Robot ◽  
Experimental Results ◽  
Position Sensitive Detector ◽  
Infrared Sensor ◽  
Sensitive Detector ◽  
New Approach ◽  
Position Sensitive

This paper presents a new approach for obstacle avoidance of small mobile robots, which combine the position sensitive detector (PSD) with digital compass. It is important for an autonomous robot to explore its surroundings in performing the task of localization and navigation for searching. Because of the complexity of the environment, one simple kind of sensors is not sufficient for robot to accomplish these tasks. In this paper, the small mobile robots are enabled to identify barriers and distinguish surroundings by using the angle signal from the digital compass which is generally mounted on the robot. Experimental results indicate that this approach based on digital compass shows great potential in autonomous robot obstacle avoidance.

scholarly journals Autonomous Generation of the Potential Field on Obstacle Avoidance Problem.

1992 ◽  
Vol 10 (4) ◽  
pp. 510-519
Author(s):  
Shuichi YOKOYAMA ◽  
Masabumi UCHIDA ◽  
Kei FUKUSHIMA ◽  
Toshio AKINUMA
Keyword(s):  
Obstacle Avoidance ◽  
Potential Field ◽  
Avoidance Problem

A Real-time Algorithm for Obstacle Avoidance of Autonomous Mobile Robots

Robotica ◽  
1992 ◽  
Vol 10 (3) ◽  
pp. 217-227 ◽  
Author(s):  
Huang Han-Pang ◽  
Lee Pei-Chien
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Time Algorithm ◽  
Autonomous Mobile Robots ◽  
Computational Time ◽  
Avoidance Problem

SUMMARYA real-time obstacle avoidance algorithm is proposed for autonomous mobile robots. The algorithm is sensor-based and consists of a H-mode and T-mode. The algorithm can deal with a complicated obstacle environment, such as multiple concave and convex obstacles. It will be shown that the algorithm is more efficient and more robust than other sensor-based algorithms. In addition, the algorithm will guarantee a solution for the obstacle avoidance problem. Since the algorithm only takes up a small computational time, it can be implemented in real time.

Experimental results of using an exact linearization controller on a PM stepper motor

2002 ◽  
Author(s):  
M. Aiello ◽  
R. Rekowski ◽  
M. Bodson ◽  
J. Chiasson ◽  
D. Schuerer
Keyword(s):  
Experimental Results ◽  
Stepper Motor ◽  
Exact Linearization

Experiments in the Commutation and Motion Planning of a Spherical Stepper Motor

2000 ◽  
Author(s):  
David Stein ◽  
Gregory S. Chirikjian
Keyword(s):  
Motion Planning ◽  
Small Area ◽  
Permanent Magnets ◽  
Difficult Problem ◽  
Experimental Results ◽  
Stepper Motor ◽  
Stepper Motors

Abstract This paper addresses the commutation and motion planning of a spherical stepper motor in which the poles of the stator are electromagnets and the poles of the rotor (rotating ball) are permanent magnets. The stator only overlaps a very small area of the rotor, leading to a design that has a much wider range of unhindered motion than other spherical stepper motors in the literature. The problem with having a small stator is that it makes commutation and motion planning a difficult problem. We first explore the techniques and model used to construct the proper sequence of stator activations that result in the desired rotor trajectory. Experimental results are then presented for the model and prototype we have constructed.

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