Design & Implementation of Obstacle Detection and Avoidance Autonomous Robot

Abhishek Shukla, Priyanka S

Abstract


In this project, the objective is to develop the algorithms for obstacle detection, obstacle avoidance, and complete coverage path planning for an autonomous robot for floor cleaning purposes. These robots should be able to work efficiently and smoothly like a person. They have many applications like vacuuming, floor scrubbing etc. and can be used in homes, industries, companies etc. 


Keywords


Autonomous Robot, Obstacle Detection, Obstacle Avoidance, Connected Component Labeling Algorithm, Obstacle Restriction Method (ORM), Complete Coverage Path Planning Algorithm, Boustrophedon Cellular Decomposition Algorithm.

Full Text:

PDF

References


Izumi K; Watanabe K; Shindo M et al. A Sensor Fusion Technique Using Visual and Ultrasonic Information to Acquire Obstacle Avoidance Behaviors for Quadruped Robots. SICE-ICASE, 2006. International Joint Conference, 18-21 Oct 2006: 5120-25.

Minguez J, Montano L. Nearness Diagram Navigation (ND): a New Real Time Collision Avoidance Approach. IROS 2000. Proceedings. 2000. IEEE/RSJ International Conference on Intelligent Robots and Systems 2000; 3: 2094-100.

Manjunath TC. Novel design of a wireless communication based automatic surveillance system for detection of suspicious objects. AH-ICI 2009. First Asian Himalayas International Conference on Internet, 3-5 Nov 2009: 1-7-.

Changhong FU, Shunxiang WU, Zhifeng LUO et al. Research and design of the differential autonomous mobile robot based on multi-sensor information fusion technology. ICIECS 2009. International Conference on Information Engineering and Computer Science, 19-20 Dec 2009: 1-4.

Trinidad-Garcia G, Saldaa-Gonzalez G, Larios-Gomez M et al. Sailing System Based In Ultrasound And Infrared Applied To A Mobile Robot. CONIELECOMP 2010. 20th International Conference on Electronics, Communications and Computer, 22-24 Feb 2010: 286-89.

Mihailidis A, Elinas P, Boger J et al. An Intelligent Powered Wheelchair to Enable Mobility of Cognitively Impaired Older Adults: An Anticollision System. IEEE Transactions on Neural Systems and Rehabilitation Engineering, Mar 2007; 15(1): 136-43.

Derhgawen AR, Ghose D. Vision Based Obstacle Detection using 3D HSV Histograms. INDICON 2011. Annual IEEE India Conference, 16-18, Dec 2011: 1-4.

Pingzeng L, Shusheng B, Guansheng Z et al. Obstacle Avoidance System for Agricultural Robots Based on Multi-sensor Information Fusion. ICCSNT 2011. International Conference on Computer Science and Network Technology, 24-26 Dec 2011; 2: 1181-85.

Gray KW. Obstacle Detection and Avoidance for an Autonomous Farm Tractor. Thesis, 2000.

Oh JS, Choi YH, Park JB et al. Navigation of Cleaning Robots Using Triangular-Cell Map for Complete Coverage. International Conference on Robotics & Automation, 2003. Proceedings. ICRA ‘03. IEEE International Conference on Robotics & Automation, Sep 2003; 2: 14-19.

Oh YJ, Watanabe Y. Development of Small Robot for Home Floor Cleaning. SlCE 2002. Proceedings of the 41st SICE Annual Conference, Aug 2002; 5: 3222-23.

Waanders M. Coverage Path Planning for Mobile Cleaning Robots. 15th Twente Student Conference on IT, The Netherlands. University of Twente, Faculty of Electrical Engineering, Mathematics and Computer Science, 20th Jun 2011.

Janchiv A, Batsaikhan D, Kim GH et al. Complete Coverage Path Planning for Multi-Robots Based on.11th International Conference on Control, Automation and Systems (ICCAS), Oct 2011: 824-27.

Choset H, Pignon P. Coverage Path-Planning: The Boustrophedon Cellular Decomposition. In: Zelinsky A (Ed.). Field and Service Robotics. Springer London, 1998: 203-209.

Choset H. Coverage for robotics-A survey of recent results. Annals of Mathematics and Artificial Intelligence, 2001; 31: 113–26.

Minguez J. The Obstacle-Restriction Method (ORM) for Robot Obstacle Avoidance in Difficult Environments. IROS 2005. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2-6 Aug 2005: 2284-90.

Gonzalez RC, Woods RE. Digital Image Processing. 2nd Edn: 66-67.

Chong WM, Goh CL, Bau YT. A Practical Framework for Clening Robots. BIC-TA 2011. Sixth International Conference on Bio-Inspired Computing: Theories and Applications, 27-29 Sep 2011: 97-102.

The OpenCV Reference Manual, Release 2.4.2.

AT91SAM9G45Datasheet.pdf.


Refbacks

  • There are currently no refbacks.