Low-cost ultrasonic based object detection and collision avoidance method for autonomous robots
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ORIGINAL RESEARCH
Low-cost ultrasonic based object detection and collision avoidance method for autonomous robots Jawad N. Yasin1 • Sherif A. S. Mohamed1 • Mohammad-Hashem Haghbayan1 Jukka Heikkonen1 • Hannu Tenhunen2 • Juha Plosila1
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Received: 1 June 2020 / Accepted: 7 September 2020 Ó The Author(s) 2020
Abstract 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.
This work has been supported in part by the Academy of Finlandfunded research project 314048 and Finnish Cultural Foundation.
1 Introduction
& Jawad N. Yasin [email protected]
An unmanned vehicle can be categorised as a mobile robot that has no human pilot onboard. This includes, for instance, Unmanned Aerial Vehicles (UAV), Unmanned Ground Vehicles (UGV), and Unmanned Surface Vehicles (USV). Their operation is controlled either manually using remote controllers or autonomously based on onboard computers [1]. An Unmanned Aerial Vehicle (UAV), or a drone, is an aircraft, often a multirotor which is basically a rigid body with mechanically moveable blades. UAVs are designed for dangerous and complicated missions as the replacements of manned aircraft. Unmanned Ground Vehicles (UGV) and Unmanned Surface Vehicles (USV) are counterparts of UAVs moving on the ground and water surface, respectively. In general, unmanned vehicles have different types of sensors that enable situational awareness and autonomous decision making depending on the tasks at hand [2]. Control can be manual, based on e.g. live video
Sherif A. S. Mohamed [email protected] Mohammad-Hashem Haghbayan [email protected] Jukka Heikkonen [email protected] Hannu Tenhunen [email protected] Juha Plosila [email protected] 1
Autonomous Systems Laboratory, Department of Future Technologies, University of Turku, Vesilinnantie 5, 20500 Turku, Finland
2
Department of Industrial and Medical Electronics, KTH Royal Inst
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