Obstacle avoidance behavior of autonomous mobile robot using fiber grating vision sensor

Yukio Miyazaki, Akihisa Ohya, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

In this paper, we mention realization of obstacle avoidance behavior of autonomous mobile robot in an unstructured indoor environment To reach a goal bp avoiding obstacles, it is necessary not only to avoid collision but also to return to the original planned path. We propose an algorithm which can realize obstacle avoidance behavior considering blind space which arises from the limitation of field of view of the sensor system. We used a Fiber Grating 3D vision sensor in order to avoid obstacles considering 3D shape of objects. To realize real-time obstacle detection, we developed a fast image processing method. We show the effectiveness of our method through an experimental result using a real mobile robot.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherIEEE Computer Society
Pages1925-1930
Number of pages6
Volume1
DOIs
Publication statusPublished - 2000
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Miyazaki, Y., Ohya, A., & Yuta, S. (2000). Obstacle avoidance behavior of autonomous mobile robot using fiber grating vision sensor. In IECON Proceedings (Industrial Electronics Conference) (Vol. 1, pp. 1925-1930). [972570] IEEE Computer Society. https://doi.org/10.1109/IECON.2000.972570