DocumentCode
880770
Title
Obstacle avoidance with ultrasonic sensors
Author
Borenstein, Johann ; Koren, Yoram
Author_Institution
Dept. of Mech. Eng. & Appl. Math., Michigan Univ., Ann Arbor, MI, USA
Volume
4
Issue
2
fYear
1988
fDate
4/1/1988 12:00:00 AM
Firstpage
213
Lastpage
218
Abstract
A mobile robot system, capable of performing various tasks for the physically disabled, has been developed. To avoid collision with unexpected obstacles, the mobile robot uses ultrasonic range finders for detection and mapping. The obstacle avoidance strategy used for this robot is described. Since this strategy depends heavily on the performance of the ultrasonic range finders, these sensors and the effect of their limitations on the obstacle avoidance algorithm are discussed in detail
Keywords
handicapped aids; position control; robots; ultrasonic transducers; handicapped aids; mobile robot system; obstacle avoidance; physically disabled; position control; ultrasonic range finders; ultrasonic sensors; ultrasonic transducers; Intelligent robots; Intelligent sensors; Medical services; Microswitches; Mobile robots; Object detection; Robot sensing systems; Vehicle detection; Vehicles; Wheels;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Journal of
Publisher
ieee
ISSN
0882-4967
Type
jour
DOI
10.1109/56.2085
Filename
2085
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