Title: Laser and vision sensing for obstacle avoidance and target seeking for a simple mobile robot

Authors: Rini Akmeliawati, Serge Demidenko, Anuradha Menon

Addresses: Department of Mechatronics Engineering, International Islamic University, Jalan Gombak, Kuala Lumpur 53100, Malaysia. ' School of Engineering, Monash University, Jalan Lagoon Selatan, Bandar Sunway, Selangor 46150, Malaysia; School of Engineering and Advanced Technology, Massey University, Wellington 6040, New Zealand. ' School of Engineering, Monash University, Jalan Lagoon Selatan, Bandar Sunway, Selangor 46150, Malaysia

Abstract: In this article, the use of laser and vision sensing for navigation of a simple fully autonomous mobile robot capable of performing obstacle detection and avoidance functions is presented. The navigation system uses image processing and laser triangulation computation to detect obstacles on the path towards the pre-specified target. It then employs fuzzy logic to determine the movements of the robot to avoid the obstacles while to continuously progressing towards the target. A localisation system of the robot is based on progressive calculation and updating of global (world) and object coordinates. The system is implemented using inexpensive commodity hardware and employs simple, but effective data processing software and control algorithms.

Keywords: autonomous mobile robots; fuzzy logic; image processing; laser sensing; obstacle avoidance; target seeking; triangulation; robot sensors; robot vision; collision avoidance.

DOI: 10.1504/IJISTA.2009.025111

International Journal of Intelligent Systems Technologies and Applications, 2009 Vol.7 No.1, pp.118 - 136

Available online: 12 May 2009 *

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