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
fDate :
4/1/1988 12:00:00 AM
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;
Journal_Title :
Robotics and Automation, IEEE Journal of
