A New Obstacle Avoidance Method for Service Robots in Indoor Environments
The objective of this paper is to propose an obstacle avoidance method forÂ serviceÂ robotsÂ inÂ indoorÂ environmentsÂ usingÂ visionÂ andÂ ultrasonicÂ sensors. ForÂ this research,Â theÂ serviceÂ robotÂ wasÂ programmedÂ toÂ deliverÂ aÂ drinkingÂ cup from a specified starting point to the recognized customer. We have developed three main modules: one for face recognition, one for obstacle detection, and one for avoidance maneuvering. The obstacle avoidance system is based on an edg edetectionÂ methodÂ usingÂ informationÂ fromÂ theÂ landmarkÂ andÂ planned-path generation. Speed, direction and distance of the moving obstacle are measured usingÂ visionÂ andÂ distanceÂ sensorsÂ inÂ orderÂ forÂ the robotÂ toÂ makeÂ an avoidance maneuver. Algorithms for obstacle avoidance are proposed and a new geometric model is introduced for making good avoidance maneuvers. The main aim of this research is to provide a complete mechanism for obstacle avoidance by vision based service robots, where common obstacle avoidance methods, such as PVM, doÂ notÂ provideÂ suchÂ aÂ feature.Â WeÂ present the resultsÂ ofÂ anÂ experimentÂ withÂ a serviceÂ robotÂ inÂ whichÂ theÂ proposedÂ methodÂ wasÂ implemented,Â afterÂ whichÂ its performance is evaluated.
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