• Title/Summary/Keyword: obstacle avoidance

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A Study on Stable Motion Control of Biped Robot with 18 Joints (18관절 2족보행 로봇의 안정한 모션제어에 관한연구)

  • Park, Youl-Moon;Thu, Le Xuan;Won, Jong-Beom;Park, Sung-Jun;Kim, Yong-Gil
    • Journal of the Korean Society of Industry Convergence
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    • v.17 no.2
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    • pp.35-41
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    • 2014
  • This paper describes the obstacle avoidance architecture to walk safely around in factory and home environment, and presents methods for path planning and obstacle avoidance for the humanoid robot. Solving the problem of obstacle avoidance for a humanoid robot in an unstructured environment is a big challenge, because the robot can easily lose its stability or fall down if it hits or steps on an obstacle. We briefly overview the general software architecture composed of perception, short and long term memory, behavior control, and motion control, and emphasize on our methods for obstacle detection by plane extraction, occupancy grid mapping, and path planning. A main technological target is to autonomously explore and wander around in home environments as well as to communicate with humans.

Obstacle Avoidance of Mobile Robot Using Distributed Fuzzy Control with Imitation of Potential Field (Potential Field 모방 분산 퍼지 제어를 통한 이동 로봇의 장애물 회피)

  • Kwak, Hwan-Joo;Park, Gwi-Tae
    • Proceedings of the IEEK Conference
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    • 2009.05a
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    • pp.378-380
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    • 2009
  • For the autonomous movement, the optimal pat]1 planning connecting between current and target positions is essential, and the optimal path of mobile robot means obstacle-free and the shortest length path to a target position. Many actual mobile robots should move without any information of surrounded obstacles. This paper suggests a new method of obstacle avoidment which is suitable in unknown environments. This method of obstacle avoidance is designed with a distributed fuzzy control system, and imitates a Potential Field method. A simulation confirms the performance and correctness of the obstacle avoidance.

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Development of Vision based Autonomous Obstacle Avoidance System for a Humanoid Robot (휴머노이드 로봇을 위한 비전기반 장애물 회피 시스템 개발)

  • Kang, Tae-Koo;Kim, Dong-Won;Park, Gwi-Tae
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.60 no.1
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    • pp.161-166
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    • 2011
  • This paper addresses the vision based autonomous walking control system. To handle the obstacles which exist beyond the field of view(FOV), we used the 3d panoramic depth image. Moreover, to decide the avoidance direction and walking motion of a humanoid robot for the obstacle avoidance by itself, we proposed the vision based path planning using 3d panoramic depth image. In the vision based path planning, the path and walking motion are decided under environment condition such as the size of obstacle and available avoidance space. The vision based path planning is applied to a humanoid robot, URIA. The results from these evaluations show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion of a practical humanoid robot.

Unmanned Ground Vehicle Control and Modeling for Lane Tracking and Obstacle Avoidance (충돌회피 및 차선추적을 위한 무인자동차의 제어 및 모델링)

  • Yu, Hwan-Shin;Kim, Sang-Gyum
    • Journal of Advanced Navigation Technology
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    • v.11 no.4
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    • pp.359-370
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    • 2007
  • Lane tracking and obstacle avoidance are considered two of the key technologies on an unmanned ground vehicle system. In this paper, we propose a method of lane tracking and obstacle avoidance, which can be expressed as vehicle control, modeling, and sensor experiments. First, obstacle avoidance consists of two parts: a longitudinal control system for acceleration and deceleration and a lateral control system for steering control. Each system is used for unmanned ground vehicle control, which notes the vehicle's 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 obstacle and perform obstacle avoidance on the road, which involves vehicle velocity. Second, we explain a method of lane tracking by means of a vision system, which consists of two parts: First, vehicle control is included in the road model through lateral and longitudinal control. Second, the image processing method deals with the lane tracking method, the image processing algorithm, and the filtering method. Finally, in this paper, we propose a method for vehicle control, modeling, lane tracking, and obstacle avoidance, which are confirmed through vehicles tests.

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A New Method for Local Obstacle Avoidance of a Mobile Robot (이동 로봇의 지역 장애물 회피를 위한 새로운 방법)

  • 김성철
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • 1998.03a
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    • pp.88-93
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    • 1998
  • This paper presents a new solution approach to moving obstacle avoidance problem for 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 terns 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 form 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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Real time obstacle avoidance for autonomous mobile robot (이동 로봇의 실시간 충돌회피)

  • 권영도;이진수
    • 제어로봇시스템학회:학술대회논문집
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    • 1993.10a
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    • pp.434-439
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    • 1993
  • This paper present a sensor based obstacle avoidance method which is based on a VFH(Vector Field Histogram) method. The basic idea of obstacle avoidance is to find a minimum obstacle direction and distance. From the minimum sonar index and the target direction high level system determine steering angle of mobile robot. The sonar sensor system consists of 12 ultra sonic sensor, and each sensor have its direction and safety value. This method has advantage on calculation speed and small memory. This method is implemented on indoor autonomous vehicle'ALiVE-2'.

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A Study on the Obstacle Avoidance of a Multi-Link Robot System using Vision System (Vision System을 이용한 다관절 로봇팔의 장애물 우회에 관한 연구)

  • 송경수;이병룡
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2000.11a
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    • pp.691-694
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    • 2000
  • In this paper, a motion control algorithm is proposed by using neural network system, which makes a robot arm successfully avoid unexpected obstacle when the robot is moving from the start to the goal position. During the motion, if there is an obstacle the vision system recognizes it. And in every time the optimization-algorithm quickly chooses a motion among the possible motions of robot. The proposed algorithm has a good avoidance characteristic in simulation.

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Obstacle Avoidance Algorithm for Vehicle using Fuzzy Inferences

  • Kawaji, Shigeyasu;Matsunaga, Nobutomo
    • Proceedings of the Korean Institute of Intelligent Systems Conference
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    • 1993.06a
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    • pp.1246-1249
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    • 1993
  • In this paper, we propose an algorithm of obstacle avoidance using fuzzy inferences. After the basic idea of the path generation algorithm using piecewise polynomials is described, the obstacle avoidance problem using fuzzy inferences is considered. Main concept of the avoidance algorithm is to modify intermittent point data using fuzzy inferences and to generate the collision free path based on the modified data. Finally, simulation result demonstrate the effectiveness of the proposed algorithm.

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Obstacle Avoidance of Leader-Follower Formation (리더-추종자 대형제어의 장애물 회피)

  • Oh, Young-Suk;Park, Jong-Hun;Kim, Jin-Hwan;Huh, Uk-Youl
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.60 no.9
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    • pp.1761-1766
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    • 2011
  • This paper presents obstacle avoidance of Leader-Follower formation. The follower robot maintain the formation with leader robot and avoid the detected obstacle. When obstacle is detected, follower robot avoid it considering leader robot and follower robot position and follower robot and obstacle position. In addition, follower robot avoid obstacle irrespective of obstacle size. Controller of follower robot is designed to satisfy Lyapunov stability by backstepping method. Simulation results shows that the designed controller has a stable performance.

3D Depth Camera-based Obstacle Detection in the Active Safety System of an Electric Wheelchair (전동휠체어 주행안전을 위한 3차원 깊이카메라 기반 장애물검출)

  • Seo, Joonho;Kim, Chang Won
    • Journal of Institute of Control, Robotics and Systems
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    • v.22 no.7
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    • pp.552-556
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    • 2016
  • Obstacle detection is a key feature in the safe driving control of electric wheelchairs. The suggested obstacle detection algorithm was designed to provide obstacle avoidance direction and detect the existence of cliffs. By means of this information, the wheelchair can determine where to steer and whether to stop or go. A 3D depth camera (Microsoft KINECT) is used to scan the 3D point data of the scene, extract information on obstacles, and produce a steering direction for obstacle avoidance. To be specific, ground detection is applied to extract the obstacle candidates from the scanned data and the candidates are projected onto a 2D map. The 2D map provides discretized information of the extracted obstacles to decide on the avoidance direction (left or right) of the wheelchair. As an additional function, cliff detection is developed. By defining the "cliffband," the ratio of the predefined band area and the detected area within the band area, the cliff detection algorithm can decide if a cliff is in front of the wheelchair. Vehicle tests were carried out by applying the algorithm to the electric wheelchair. Additionally, detailed functions of obstacle detection, such as providing avoidance direction and detecting the existence of cliffs, were demonstrated.