Obstacle Avoidance System Based on Single Rotary Ultrasonic Sensor
Centering round obstacle avoidance problem, an evadible system based on the ultrasonic sensor Sens600 is presented in this paper, the sensor rotated by the stepper motor scans back and forth in horizontal plane ahead of the robot, then the system builds and updates a histogram world model with the to-and-fro range information after data processing, the safe area capture (SAC) method is applied to compute the most suitable direction among all candidates, and the steering of the robot is aligned with that direction. The experimental results demonstrate the feasibility and effectiveness of the proposed system.
G. Z. Cui et al., "Obstacle Avoidance System Based on Single Rotary Ultrasonic Sensor", Applied Mechanics and Materials, Vols. 55-57, pp. 521-526, 2011