A Minimal Infrared Obstacle Detection Scheme
نویسنده
چکیده
Obstacle detection is often the rst perceptual system we add to our mobile robots. After all, once the robot is moving around, constantly bumping into things doesn't make a very impressive demonstration of the robot's intellect . A simple solution is a contact sensor in the form of a bump switch or whisker, but this approach to obstacle detection is not very impressive and reminiscent of a blindfolded C3PO of Star Wars fame. An alternate solution is near-proximity sensing, possible with an infrared emitter/detector pair. These optoelectronic infrared components are inexpensive, easy to use and widely available from several manufacturers.
منابع مشابه
Software Implementation of Obstacle Detection and Avoidance System for Wheeled Mobile Robot
Nowadays, Wheeled Mobile Robots (WMRs) are built and the control system that used to control them are made by Electronic Engineers. Depend on their desire design of WMR, Technicians made used of Microcontrollers as controlling machines and DC Motors for motion control. Autonomous robotic vehicle guidance for indoor navigation has been developed for Mobile Industrial Robot model. The resulting d...
متن کاملTowards a more Accurate Infrared Distance Sensor Model
This paper presents the stochastic modelling of an infrared distance sensor. The modelled features of the sensor were its characteristic, the mandatory minimal distance, the sensor noise and the influence of the sensor position while facing an obstacle. In order to model the distance sensor it was necessary to collect a considerable amount of data, for this task it was used an industrial robot ...
متن کاملMultigrid Methods for Obstacle Problems
Obstacle problems can be posed as elliptic variational inequalities, complementarity inequalities and Hamilton-Jacobi-Bellman (HJB) partial differential equations (PDEs). In this paper, we propose a multigrid algorithm based on the full approximate scheme (FAS) for solving the membrane constrained obstacle problems and the minimal surface obstacle problems in the formulations of HJB equations. ...
متن کاملTrack to track fusion method applied to road obstacle detection
This paper presents a data fusion Kalman based method applied to obstacle detection in road situations. We describe the principle and the implementation of fusion process. It is based on tracks produced separately by single sensors. Results with Infrared and Radar sensors are shown, proving the benefit of this dual approach. Another application with Radar and LIDAR is also illustrated.
متن کاملApplying Evolutionary Optimisation to Robot Obstacle Avoidance
This paper presents an artificial evolutionbased method for stereo image analysis and its application to real-time obstacle detection and avoidance for a mobile robot. It uses the Parisian approach, which consists here in splitting the representation of the robot's environment into a large number of simple primitives, the “flies”, which are evolved following a biologically inspired scheme and g...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 1996