Title :
Moving Obstacle Avoidance Using a LRF Sensor
Author :
Sohn, Won-Jong ; Hong, Keum-Shik
Author_Institution :
Dept. of Mech. & Intelligent Syst. Eng., Pusan Nat. Univ.
Abstract :
In this paper, an obstacle avoidance algorithm using a laser range finder (LRF) sensor for a mobile manipulator is investigated. A moving obstacle is regarded as a moving circle and therefore the obstacle detection problem becomes the problem of finding the center of a moving circle and its radius. To estimate the position and velocity of the obstacle, Kalman filter is designed. Using velocity and angular velocity of obstacle, we consider that the obstacle move straight. So we forecast a collision of robot and obstacle. Experimental results are provided
Keywords :
Kalman filters; collision avoidance; laser ranging; manipulators; mobile robots; Kalman filter; laser range finder sensor; mobile manipulator; obstacle avoidance algorithm; obstacle detection problem; Computer architecture; Hardware; Humans; Intelligent sensors; Mechanical sensors; Mobile robots; Real time systems; Robot sensing systems; Service robots; Wheels; Kalman Filter; Linux-RTAI; Obstacle Avoidance; Segmentation;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.315837
