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Obstacle avoidance with ultrasonic sensors

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2 Author(s)
Borenstein, J. ; Dept. of Mech. Eng. & Appl. Math., Michigan Univ., Ann Arbor, MI, USA ; Koren, Y.

A mobile robot system, capable of performing various tasks for the physically disabled, has been developed. To avoid collision with unexpected obstacles, the mobile robot uses ultrasonic range finders for detection and mapping. The obstacle avoidance strategy used for this robot is described. Since this strategy depends heavily on the performance of the ultrasonic range finders, these sensors and the effect of their limitations on the obstacle avoidance algorithm are discussed in detail

Published in:

Robotics and Automation, IEEE Journal of  (Volume:4 ,  Issue: 2 )