Obstacle avoidance of a mobile robot using vision system and ultrasonic sensor

Abstract

This paper proposes obstacle collision avoidance algorithm for a mobile robot. To navigate without colliding with obstacles the mobile robot uses both the vision system approach and edge detection approach using ultrasonic sensor. The vision system approach is used when the obstacle is located more than 2 meters away from the mobile robot, and the edge detection approach using ultrasonic sensor is used for detecting obstacle remains within 2 meters range. The collision avoidance algorithm proposed in this paper utilizes both the limit-cycle method and the nearness diagram navigation method. The proposed method is tested using Pioneer 2-DX mobile robot. Through experiment, the effectiveness of proposed methods for navigating a mobile robot in the dynamic environment is demonstrated. © Springer-Verlag Berlin Heidelberg 2007.