An agent-based structure for mobile robots using vision and ultrasonic sensors

Object recognition is an important task associated with mobile robot navigation. Upon detecting any obstacle, the recognition system must be able to say which obstacle is in the robot's trajectory, so that the control system is able to plan a new trajectory for the robot, deviating from the detected obstacle or following it, depending on the obstacle. It is normally necessary to recognize a few obstacles that are commonly present in the robot operating environment. In this paper, a system is proposed to perform the task of recognizing the objects present in the trajectory of a mobile robot. This system is based on information coming from ultrasonic sensors and a digital monochromatic camera. The operation of this system is addressed and an example of object detection and recognition is presented.