Obstacle Avoidance System Based on Single Rotary Ultrasonic Sensor

Abstract:

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.

• Periodical: Applied Mechanics and Materials (Volumes 55-57)
• Pages: 521-526
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.55-57.521
• Online since: May 2011
• Authors: Guang Zhao Cui, Wen Juan Wei, Jin Chao Guo
• Keywords: Mobile Robot, Obstacle Avoidance, Rotary Scanning, Safe Area Capture Method, Sens600 Sensor

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