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.
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