VISION-BASED OBSTACLE AVOIDANCE FOR A SMALL, LOW-COST ROBOT

Chau Nguyen Viet, Ian Marshall

Abstract

This paper presents a vision-based obstacle avoidance algorithm for a small indoor mobile robot built from low-cost, and off-the-shelf electronics. The obstacle avoidance problem in robotics has been researched extensively and there are many well established algorithms for this problem. However, most of these algorithms are developed for large robots with expensive, specialised sensors, and powerful computing platforms. We have developed an algorithm that can be implemented on very small robots with low-cost electronics and small computing platforms. Our vision-based obstacle detection algorithm is fast and works with very low resolution images. The control mechanism utilises both visual information and sonar sensor’s measurement without having to fuse the data into a model or common representation. The robot platform was tested in an unstructured office environment and demonstrated a reliable obstacle avoidance behaviour.

References

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  2. Lenser, S. and Veloso, M. (2003). Visual sonar: fast obstacle avoidance using monocular vision. In Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on, volume 1, pages 886-891.
  3. Lorigo, L., Brooks, R., and Grimsou, W. (1997). Visuallyguided obstacle avoidance in unstructured environments. In Intelligent Robots and Systems, 1997. IROS 7897., Proceedings of the 1997 IEEE/RSJ International Conference on, volume 1, pages 373-379, Grenoble, France.
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Paper Citation


in Harvard Style

Nguyen Viet C. and Marshall I. (2007). VISION-BASED OBSTACLE AVOIDANCE FOR A SMALL, LOW-COST ROBOT . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 275-279. DOI: 10.5220/0001648302750279


in Bibtex Style

@conference{icinco07,
author={Chau Nguyen Viet and Ian Marshall},
title={VISION-BASED OBSTACLE AVOIDANCE FOR A SMALL, LOW-COST ROBOT},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={275-279},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001648302750279},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - VISION-BASED OBSTACLE AVOIDANCE FOR A SMALL, LOW-COST ROBOT
SN - 978-972-8865-83-2
AU - Nguyen Viet C.
AU - Marshall I.
PY - 2007
SP - 275
EP - 279
DO - 10.5220/0001648302750279