A New Obstacle Avoidance Method for Service Robots in Indoor Environments

Widodo Budiharto; Ari Santoso; Djoko Purwanto; Achmad Jazidie

doi:10.5614/itbj.eng.sci.2012.44.2.4

Authors

Widodo Budiharto Bina Nusantara University, Jl. K. H. Syahdan No. 9, Kemanggisan/Palmerah, Jakarta Barat 11480, Indonesia
Ari Santoso Electrical Engineering Department, Faculty of Industrial Technology Institute of Technology Sepuluh Nopember Surabaya (ITS) Kampus ITS, Keputih, Surabaya, Jawa Timur 60111, Indonesia
Djoko Purwanto Electrical Engineering Department, Faculty of Industrial Technology Institute of Technology Sepuluh Nopember Surabaya (ITS) Kampus ITS, Keputih, Surabaya, Jawa Timur 60111, Indonesia
Achmad Jazidie Electrical Engineering Department, Faculty of Industrial Technology Institute of Technology Sepuluh Nopember Surabaya (ITS) Kampus ITS, Keputih, Surabaya, Jawa Timur 60111, Indonesia

DOI:

https://doi.org/10.5614/itbj.eng.sci.2012.44.2.4

Abstract

The objective of this paper is to propose an obstacle avoidance method for service robots in indoor environments using vision and ultrasonic sensors. For this research, the service robot was programmed to deliver a drinking 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 edetection method using information from the landmark and planned-path generation. Speed, direction and distance of the moving obstacle are measured using vision and distance sensors in order for the robot to make 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, do not provide such a feature. We present the results of an experiment with a service robot in which the proposed method was implemented, after which its performance is evaluated.

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