영상과 초음파 정보를 이용한 이동로보트의 장애물 인식

Obstacle Recognition Using the Vision and Ultrasonic Sensor in a Mobile Robot

In this paper, a new method is proposed where the vision and ultrasonic sensor are used to recognize obstacles and to obtain its position and size. Ultrasonic snsors are used to obtain the actual navigation path width of the mobile robot. In conjunction with camera images of the path, recognition of obstacles and the determination of its distance, direction, and width are carried out. The characteristics of the sensors and the mobile robots used generally make it difficult to recognize all environments; accordingly, a restricted environment is employed for this study.