Laser and vision sensing for obstacle avoidance and target seeking for a simple mobile robot. (13th May 2009)

• Record Type: Journal Article
• Authors: Akmeliawati, Rini; Demidenko, Serge; Menon, Anuradha
• Is Part Of: International journal of intelligent systems technologies and applications. Volume 7:Number 1(2009)
• Page Start: 118
• Page End: 136
• Publication Date: 2009-05-13
• Subjects: autonomous mobile robots -- fuzzy logic -- image processing -- laser sensing -- obstacle avoidance -- target seeking -- triangulation -- robot sensors -- robot vision -- collision avoidance; Artificial intelligence -- Periodicals; Intelligent control systems -- Periodicals; 006.3
• Languages: English
• ISSNs: 1740-8865

Abstract

In this article, the use of laser and vision sensing for navigation of a simple fully autonomous mobile robot capable of performing obstacle detection and avoidance functions is presented. The navigation system uses image processing and laser triangulation computation to detect obstacles on the path towards the pre-specified target. It then employs fuzzy logic to determine the movements of the robot to avoid the obstacles while to continuously progressing towards the target. A localisation system of the robot is based on progressive calculation and updating of global (world) and object coordinates. The system is implemented using inexpensive commodity hardware and employs simple, but effective data processing software and control algorithms.