Obstacle avoidance method for multi-agent robots using IR sensor and image information

Byung Seung Jeon, Do Young Lee, In Hwan Choi, Young Hak Mo, Jung Min Park, Myo Taeg Lim

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

This paper presents obstacle avoidance method for scout robot or industrial robot inunknown environment by using IR sensor and vision system. In the proposed method, robots share the information where the obstacles are located in real-time, thus the robots can choose the best path for obstacle avoidance. Using IR sensor and vision system, multiple robots efficiently evade the obstacles by the proposed cooperation method. No landmark is used at wall or floor in experiment environment. The obstacles don't have specific color or shape. To get the information of the obstacle, vision system extracts the obstacle coordinate by using an image labeling method. The information obtained by IR sensor is aboutthe obstacle range and the locomotion direction to decide the optimal path for avoiding obstacle. The experiment was conducted in 7m x 7m indoor environment with two-wheeled mobile robots. It is shown that multiple robots efficiently move along the optimal path in cooperation with each other in the space where obstacles are located.

Original languageEnglish
Pages (from-to)1122-1131
Number of pages10
JournalJournal of Institute of Control, Robotics and Systems
Volume18
Issue number12
DOIs
Publication statusPublished - 2012

Keywords

  • Cooperative robot
  • Obstacle avoidance
  • Swarm robot

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Applied Mathematics

Fingerprint Dive into the research topics of 'Obstacle avoidance method for multi-agent robots using IR sensor and image information'. Together they form a unique fingerprint.

  • Cite this