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A Robust Obstacle Avoidance for Service Robot Using Bayesian Approach
| Content Provider | SAGE Publishing |
|---|---|
| Author | Budiharto, Widodo Purwanto, Djoko Jazidie, Achmad |
| Copyright Year | 2011 |
| Abstract | The objective of this paper is to propose a robust obstacle avoidance method for service robot in indoor environment. The method for obstacles avoidance uses information about static obstacles on the landmark using edge detection. Speed and direction of people that walks as moving obstacle obtained by single camera using tracking and recognition system and distance measurement using 3 ultrasonic sensors. A new geometrical model and maneuvering method for moving obstacle avoidance introduced and combined with Bayesian approach for state estimation. The obstacle avoidance problem is formulated using decision theory, prior and posterior distribution and loss function to determine an optimal response based on inaccurate sensor data. Algorithms for moving obstacles avoidance method proposed and experiment results implemented to service robot also presented. Various experiments show that our proposed method very fast, robust and successfully implemented to service robot called Srikandi II that equipped with 4 DOF arm robot developed in our laboratory. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.5772/10527?download=true |
| ISSN | 17298806 |
| Issue Number | 1 |
| Volume Number | 8 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.5772/10527 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2011-01-01 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © 2011 SAGE Publications Ltd |
| Rights License | Llicensed Under Creative Commons Licenses |
| Subject Keyword | obstacles avoidance navigation service robot bayesian moving obstacle |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
