• Title, Summary, Keyword: obstacle avoidance

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The Development of Obstacle Avoidance Algorithm for Unmanned Vehicle Using Ultrasonic Sensor

  • Yu, Whan-Sin;Lee, Woon-Sung;Kim, Jung-Ha
    • 제어로봇시스템학회:학술대회논문집
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    • pp.408-412
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    • 2003
  • Obstacle avoidance algorithm is very important on an unmanned vehicle. Therefore, in this research, we propose a algorithm of obstacle avoidance and we can prove through vehicle test and sensor experiments. Obstacle avoidance must be divided into two parts: the first part includes the longitudinal control for acceleration and deceleration and the second part is the lateral control for steering control. Each system is used for unmanned vehicle control, which notes its location, recognizes obstacles surrounding it, and makes a decision how fast to proceed according to circumstances. During the operation, the control strategy of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. In this paper, we propose a method for vehicle control, modeling, and obstacle avoidance, which are confirmed through vehicle tests.

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UNMANNED VEHICLE CONTROL AND MODELING FOR OBSTACLE AVOIDANCE

  • Kim, S.-G.;Kim, J.-H.
    • International Journal of Automotive Technology
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    • v.4 no.4
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    • pp.173-180
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    • 2003
  • Obstacle avoidance is considered as one of the key technologies in an unmanned vehicle system. In this paper, we propose a method of obstacle avoidance, which can be expressed as vehicle control, modeling, and sensor experiments. Obstacle avoidance consists of two parts: one longitudinal control system for acceleration; and deceleration and a lateral control system for steering control. Each system is used for unmanned vehicle control, which notes its location, recognizes obstacles surrounding it, and makes a decision how fast to proceed according to circumstances. During the operation, the control strategy of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. The method proposed for vehicle control, modeling, and obstacle avoidance has been confirmed through vehicle tests.

Research of the Unmanned Vehicle Control and Modeling for Obstacle Detection and Avoidance (물체인식 및 회피를 위한 무인자동차의 제어 및 모델링에 관한 연구)

  • 김상겸;김정하
    • Transactions of the Korean Society of Automotive Engineers
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    • v.11 no.5
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    • pp.183-192
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    • 2003
  • Obstacle detection and avoidance are considered as one of the key technologies on an unmanned vehicle system. In this paper, we propose a method of obstacle detection and avoidance and it is composed of vehicle control, modeling, and sensor experiments. Obstacle detection and avoidance consist of two parts: one is longitudinal control system for acceleration and deceleration and the other is lateral control system for steering control. Each system is used for unmanned vehicle control, which notes its location, recognizes obstacles surrounding it, and makes a decision how fast to proceed according to circumstances. During the operation, the control system of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. In this paper, we propose a method for vehicle control, modeling, and obstacle avoidance, which are evaluated through road tests.

Obstacle Avoidance of Redundant Manipulator Using Potential and AMSI

  • Ikeda, K.;Minami, M.;Mae, Y.;Tanaka, H.
    • 제어로봇시스템학회:학술대회논문집
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    • pp.740-745
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    • 2005
  • This study is intended to build a controller of redundant manipulators with the simultaneous abilities of trajectory tracking and obstacle avoidance without any preparations of path planning to achieve full automation even for one production of one kind, while keeping the avoidance ability high and keeping its shape away from object to reduce the possibility that the manipulator crashes to the object. To evaluate the avoidance ability of the intermediate link, we proposed a scalar value of Avoidance Manipulability Shape Index(AMSI), which is independent of the obstacle's shape. On the other hand, the danger to crash to the obstacle is depending on the shape of the obstacle, which could be evaluated by the potential field set around the obstacle. This paper proposes control method of the manipulator's shape based on the AMSI to simultaneously avoid obstacles and keep the avoidance ability high with potential.

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Geometric Path Tracking and Obstacle Avoidance Methods for an Autonomous Navigation of Nonholonomic Mobile Robot (비홀로노믹 이동로봇의 자율주행을 위한 기하학적 경로 추종 및 장애물 회피 방법)

  • Kim, Dong-Hyung;Kim, Chang-Jun;Han, Chang-Soo
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.8
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    • pp.771-779
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    • 2010
  • This paper presents a method that integrates the geometric path tracking and the obstacle avoidance for nonholonomic mobile robot. The mobile robot follows the path by moving through the turning radius given from the pure pursuit method which is the one of the geometric path tracking methods. And the obstacle generates the obstacle potential, from this potential, the virtual force is obtained. Therefore, the turning radius for avoiding the obstacle is calculated by proportional to the virtual force. By integrating the turning radius for avoiding the obstacle and the turning radius for following the path, the mobile robot follows the path and avoids the obstacle simultaneously. The effectiveness of the proposed method is verified through the real experiments for path tracking only, static obstacle avoidance, dynamic obstacle avoidance.

Implementation of the Obstacle Avoidance Algorithm of Autonomous Mobile Robots by Clustering (클러스터링에 의한 자율 이동 로봇의 장애물 회피 알고리즘)

  • 김장현;공성곤
    • Proceedings of the Korean Institute of Intelligent Systems Conference
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    • pp.504-510
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    • 1998
  • In this paper, Fundamental rules governing group intelligence "obstacle avoidance" behavior of multiple autonomous mobile robots are represented by a small number of fuzzy rules. Complex lifelike behavior is considered as local interactions between simple individuals under small number of fundamental rules. The fuzzy rules for obstacle avoidance are generated from clustering the input-output data obtained from the obstacle avoidance algorithm. Simulation shows the fuzzy rules successfully realizes fundamental rules of the obstacle avoidance behavior.

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Study on the Effective Solution of Obstacle Avoidance Strategy for a Mobile Robot in the Guideline Navigation

  • Wang, Jiwu;Sugisaka, Masanori
    • 제어로봇시스템학회:학술대회논문집
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    • pp.2015-2018
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    • 2005
  • Obstacle avoidance is a basic skill to make a mobile robot move effectively and safely even in any arbitrarily given environment. Because of the difficulty of self-location caused by unavoidable slip and drift errors of sensors and effective detection of any encountered obstacle, only finite and simple obstacle avoidance strategies can be carried out. In this paper we mainly explored how to make a robot perform effectively obstacle detection and avoidance in the guideline navigation with one CCD video camera and some supersonic sensors. Making use of the specially designed guideline, the detection and calculation of the geometric dimensions of the encountered obstacle became simpler. And possible avoidance strategies appropriate to our navigation were studied and the simulations results were given.

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Research of the Unmanned Vehicle Control and Modeling for Lane Tracking and Obstacle Avoidance

  • Kim, Sang-Gyum;Lee, Woon-Sung;Kim, Jung-Ha
    • 제어로봇시스템학회:학술대회논문집
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    • pp.932-937
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    • 2003
  • In this paper, we will explain about the unmanned vehicle control and modeling for combined obstacle avoidance and lane tracking. First, obstacle avoidance is considered as one of the important technologies in the unmanned vehicle. It is consisted by two parts: the first part includes the longitudinal control system for the acceleration and deceleration and the second part is the lateral control system for the steering control. Each system uses to the obstacle avoidance during the vehicle moving. Therefore, we propose the method of vehicle control, modeling and obstacle avoidance. Second, we describe a method of lane tracking by means of vision system. It is important in the unmanned vehicle and mobile robot system. In this paper, we deal with lane tracking and image processing method and it is including lane detection method, image processing algorithm and filtering method.

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A new Approach to Moving Obstacle Avoidance Problem of a Mobile Robot

  • 고낙용
    • Journal of The Korean Society of Manufacturing Technology Engineers
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    • v.7 no.1
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    • pp.9-21
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    • 1998
  • This paper a new solution approach to moving obstacle avoidance problem of a mobile robot. A new concept avoidability measure (AVM) is defined to describe the state of a pair of a robot and an obstacle regarding the collision between them. As an AVM, virtual distance function (VDF), is derived as a function of the distance from the obstacle to the robot and outward speed of the obstacle relative to the robot. By keeping the virtual distance above some positive limit value, the robot avoids the obstacle. In terms of the VDF ,an artificial potential field is constructed to repel the robot away from the obstacle and to attract the robot toward a goal location. At every sampling time, the artificial potential field is updated and the force driving the robot is derived from the gradient of the artificial potential field. The suggested algorithm drives the robot to avoid moving obstacles in real time. Since the algorithm considers the mobility of the obstacle as well as the distance, it is effective for moving obstacle avoidance. Some simulation studies show the effectiveness of the proposed approach.

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A Study on Obstacle Avoidance and Autonomous Travelling of Mobile Robot in Manufacturing Precess for Smart Factory (스마트 팩토리를 위한 제조공정내에서 모바일 로봇의 장애물 회피 및 자율주행에 관한 연구)

  • Kim, D.B.;Kim, H.J.;Moon, J.C.;Bae, H.Y;Han, S.H.
    • Journal of the Korean Society of Industry Convergence
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    • v.21 no.6
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    • pp.379-388
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    • 2018
  • In this study, we propose a new approach to impliment autonomous travelling of mobile robot based on obstacle avoidance and voice command. Obstacle Avoidance technology of mobile robpot. It has been used in wide range of different robotics areas to minimize the risk of collisions. Obstacle avoidance of mobile robots are mostly applied in transportation systems such as aircraft traffic control, autonomous cars etc. Collision avoidance is a important requirement in mobile robot systems where they all featured some kind of obstacle detection techniques in order to avoid colliding. In this paper it was illustrated the reliability of voice command and obstacle avoidance for autonomous travelling of mobile robot with two wheels as the purpose of application to the manufacturing process by simulation and experiments.