Browse > Article
http://dx.doi.org/10.5369/JSST.2005.14.2.101

Perception of small-obstacles using ultrasonic sensors and its avoidance method in robot  

Kim, Gab-Soon (ERI(Engineering Research Institute))
Publication Information
Journal of Sensor Science and Technology / v.14, no.2, 2005 , pp. 101-108 More about this Journal
Abstract
The research on the avoidance of the large-obstacles such as a wall, a large box, etc. using ultrasonic sensors has been generally progressed up to now. But the mobile robot could meet a small-obstacle such as a small plastic bottle, a small sphere, and so on in its designated path, and could be disturbed by them in the locomotion of the mobile robot. So, it is necessary to research on the avoidance of a small-obstacle. In this paper, a robot's small-obstacle perceiving system was designed and fabricated by arranging four ultrasonic sensors on the plastic plate to avoid small-obstacles. The system was installed on the upper part of the mobile robot with the slope angles between $40.7^{\circ}$ and $23.3^{\circ}$ to a horizontal line and the dynamic characteristic test of the robot was performed. As the result, it was confirmed that the mobile robot with the system could avoid small-obstacles in indoor environment safely.
Keywords
ultrasonic sensor; small-obstacle perceiving system; mobile robot; transmitter; receiver;
Citations & Related Records
연도 인용수 순위
  • Reference
1 A. Ohya, T. Ohno, and S. Yuta, 'Obstacle detect-ability of ultrasonic ranging system and sonar map understanding', Robotics and Autonomous Systems, vol. 18, pp. 251-257, 1996   DOI   ScienceOn
2 K. Kimoto and S. Yuta, 'Simulation of an ultrasonic range sensor for an autonomous mobile robot', Journal of the Robotics Society of Japan, vol. 13, no. 2, pp. 297-304, 1995   DOI
3 T. Yata, A. Ohya, and S. Yuta, 'A fast and accurate sonar-ring sensor for a mobile robot', Proceedings of the 1999 IEEE International Conference on Robotics & Automation, Detroit, Michigan, pp. 630-636, 1999
4 Y. Tetsutaka, 'Obstacle avoidance of mobile robot using an ultrasonic sensor', a master's thesis of Tsukuba University, 2001
5 T. Yata, L. Kleeman, and S. Yuta, 'Fast-bearing measurement with a single ultrasonic transducer', The International Journal of Robotics Research Sage Publications, Inc, vol. 17, no. 11, pp. 1202-1213, 1998   DOI   ScienceOn
6 Y. Ando, T. Tsubouchi, and S. Yuta, 'A reactive wall followint algorithm and its behavior of an autonomous mobile robot with sonar ring', Journal of Robotics and Mechatronics, vol. 8 no. 1, pp. 33-38, 1996   DOI