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A novel sonar-based obstacle detection approach sensor-based coverage problem

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3 Author(s)
Dilmen, E. ; Dept. of Electr. & Electron. Eng., Eskisehir Osmangazi Univ., Eskisehir, Turkey ; Parlaktuna, O. ; Yazici, A.

In this paper, a vector-projection-based algorithm is developed to detect obstacles in narrow environments. This algorithm can be used for especially sensor-based coverage problems. The algorithm distinguishes the obstacles from the walls around the robot. Sonar vectors are projected on the edge which the robot moves to detect the obstacles. After detecting the obstacle, the size and location of the obstacle are calculated.

Published in:

Electrical and Electronics Engineering, 2009. ELECO 2009. International Conference on

Date of Conference:

5-8 Nov. 2009