Low cost obstacle detection system for wheeled mobile robot

This paper presents a new low cost obstacle detection system for wheeled mobile robot. The hardware implementation of the proposed detection system uses two Sharp GP2D02 infra-red range sensors which are placed cross over each other in front of the robot in order to detect any object and avoid collisions. The software implementation of the proposed detection system is implemented using timer with the overflow interrupt for generating the required waveform for driving the Sharp GP2D02 infra-red range sensor. As a result, the mobile robot is able to execute different tasks without a delay on the processing time, for example driving the robot wheels and drive the Sharp sensors for detecting an object. Experimental results show that the proposed detection system successfully detect an object placed in a path of the mobile robot.