SONAR Based Obstacle Detection and Avoidance Algorithm

机译：基于SONAR的障碍物检测与避免算法

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摘要

Autonomous robots are intelligent machines that are capable of performing desired tasks by themselves, without explicit human control. This paper presents a novel simple algorithm based on ultrasonic sensors and simple calculations for real-time obstacle detection and avoidance that is intended for mobile robots. The design is implemented in air using ultrasonic sensors but can be adapted using sonar to underwater environments where it has important applications such as deep sea maintenance and reconnaissance tasks. The paper also presents performance results of a prototype developed to prove the design concept.

机译：自主机器人是智能机器，能够自行执行所需的任务，而无需明确的人工控制。本文提出了一种新颖的基于超声波传感器的简单算法，该算法用于移动机器人的实时障碍物检测和回避的简单计算。该设计使用超声波传感器在空中实施，但可以使用声纳调整到水下环境，在水下环境中它具有重要应用，例如深海维护和侦察任务。本文还介绍了为证明设计概念而开发的原型的性能结果。

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来源
《Signal Acquisition and Processing, 2009. ICSAP 2009》|2009年|98-102|共5页
会议地点 Kuala Lumpur(MY);Kuala Lumpur(MY)
作者
Ansari M.A.; Umrani F.A.;
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作者单位

Dept. of Electron. Telecommun. Eng., MUET, Jamshoro, Pakistan;

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关键词
collision avoidance; intelligent robots; mobile robots; object detection; remotely operated vehicles; sonar detection; ultrasonic transducers; underwater vehicles; SONAR; autonomous robots; intelligent machines; obstacle avoidance algorithm; obstacle detection; ultrasonic sensors;

机译：防撞;智能机器人;移动机器人;目标检测;遥控车辆;声纳检测;超声波传感器;水下航行器;声纳;自主机器人;智能机器;避障算法;障碍物检测;超声波传感器;

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1. Improving the obstacle detection and identification algorithms of a laserscanner-based collision avoidance system [J] . Felipe Jiménez, Jose Eugenio Naranjo Transportation research . 2011,第4期

机译：改进基于激光扫描仪的避碰系统的障碍物检测和识别算法
2. Inverted Triangle Tri-Sonar Sensor Configuration for Obstacle Detection and Avoidance [J] . Christopher Mayero, Jacob O. Oduogo, Reccab M. Ochieng International Journal of Energy, Environment and Economics . 2015,第1期

机译：倒置三角形三声纳传感器配置，用于障碍物检测和避免
3. Obstacle Detection and Avoidance System Based on Monocular Camera and Size Expansion Algorithm for UAVs [J] . Abdulla Al-Kaff, Fernando García, David Martín, Sensors . 2017,第5期

机译：基于单目摄像头和尺寸扩展算法的无人机障碍物检测与避免系统
4. SONAR based Obstacle Detection and Avoidance Algorithm [C] . Ansari M. Adil, Umrani Fahim Aziz International Conference on Signal Acquisition and Processing . 2009

机译：基于声纳的障碍物检测和避免算法
5. Algorithm for Object Detection and Obstacle Avoidance for Medication Delivery Robot [D] . Alghamdi, Mada . 2020

机译：用于物体检测和避免药物送货机器人的算法
6. A Method on Dynamic Path Planning for Robotic Manipulator Autonomous Obstacle Avoidance Based on an Improved RRT Algorithm [O] . Kun Wei, Bingyin Ren 2018

机译：基于改进RRT算法的机器人操纵器自主避障动态路径规划方法
7. Mobile Robot Obstacle Avoidance Algorithms Based on Information Fusion of Vision and Sonar [O] . Hongwei Gao, Qiuyang Wei, Yang Yu, 2016

机译：基于愿景和声纳信息融合的移动机器人障碍避免算法

SONAR Based Obstacle Detection and Avoidance Algorithm

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