Low-cost ultrasonic based object detection and collision avoidance method for autonomous robots

Jawad N. Yasin; Sherif A. S. Mohamed; Mohammad-Hashem Haghbayan; Jukka Heikkonen; Hannu Tenhunen; Juha Plosila

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Low-cost ultrasonic based object detection and collision avoidance method for autonomous robots

机译：基于低成本的超声波对象检测和自主机器人的碰撞避免方法

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摘要

This work focuses on the development of an effective collision avoidance algorithm that detects and avoids obstacles autonomously in the vicinity of a potential collision by using a single ultrasonic sensor and controlling the movement of the vehicle. The objectives are to minimise the deviation from the vehicle’s original path and also the development of an algorithm utilising one of the cheapest sensors available for very lost cost systems. For instance, in a scenario where the main ranging sensor malfunctions, a backup low cost sensor is required for safe navigation of the vehicle while keeping the deviation to a minimum. The developed algorithm utilises only one ultrasonic sensor and approximates the front shape of the detected object by sweeping the sensor mounted on top of the unmanned vehicle. In this proposed approach, the sensor is rotated for shape approximation and edge detection instead of moving the robot around the encountered obstacle. It has been tested in various indoor situations using different shapes of objects, stationary objects, moving objects, and soft or irregularly shaped objects. The results show that the algorithm provides satisfactory outcomes by entirely avoiding obstacles and rerouting the vehicle with a minimal deviation.

机译：这项工作侧重于通过使用单个超声波传感器并控制车辆的移动来检测和避免在潜在碰撞附近自主检测和避免障碍物的有效碰撞避免算法的开发。目标是最小化车辆原始路径的偏差以及利用最便宜的传感器的算法开发，可用于非常丢失的成本系统。例如，在主要测距传感器故障的场景中，需要备用低成本传感器来安全导航，同时保持偏差至最小。开发算法仅利用一个超声波传感器，并通过将安装在无人驾驶车辆顶部的传感器扫描来近似检测到的物体的前部形状。在这种提出的方法中，传感器旋转以形成形状近似和边缘检测，而不是在遇到的障碍物周围移动机器人。它已经在各种室内情况下使用不同的物体，固定物体，移动物体和软或不规则形状的物体进行了测试。结果表明，该算法通过完全避免障碍物并重新排出具有最小偏差的车辆来提供令人满意的结果。

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来源
《International Journal of Information Technology》 |2021年第1期|97-107|共11页
作者
Jawad N. Yasin; Sherif A. S. Mohamed; Mohammad-Hashem Haghbayan; Jukka Heikkonen; Hannu Tenhunen; Juha Plosila;
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作者单位

Autonomous Systems Laboratory Department of Future Technologies University of Turku Vesilinnantie 5 20500 Turku Finland;

Autonomous Systems Laboratory Department of Future Technologies University of Turku Vesilinnantie 5 20500 Turku Finland;

Autonomous Systems Laboratory Department of Future Technologies University of Turku Vesilinnantie 5 20500 Turku Finland;

Autonomous Systems Laboratory Department of Future Technologies University of Turku Vesilinnantie 5 20500 Turku Finland;

Department of Industrial and Medical Electronics KTH Royal Institute of Technology Brinellvgen 8 114 28 Stockholm Sweden;

Autonomous Systems Laboratory Department of Future Technologies University of Turku Vesilinnantie 5 20500 Turku Finland;

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原文格式 PDF
正文语种 eng
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关键词
Collision avoidance; Fault tolerance; Mobile robots; Ultrasonic; Unmanned vehicles;

机译：碰撞避免;容错;移动机器人;超声波;无人驾驶车辆;

Low-cost ultrasonic based object detection and collision avoidance method for autonomous robots

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