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 Dec 1
Externally publishedYes

Fingerprint

Obstacle Avoidance
Collision avoidance
Robot
Robots
Sensor
Sensors
Vision System
Optimal Path
Industrial robots
Mobile robots
Labeling
Industrial Robot
Experiments
Locomotion
Color
Landmarks
Mobile Robot
Experiment
Choose
Real-time

Keywords

  • Cooperative robot
  • Obstacle avoidance
  • Swarm robot

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Applied Mathematics

Cite this

Obstacle avoidance method for multi-agent robots using IR sensor and image information. / Jeon, Byung Seung; Lee, Do Young; Choi, In Hwan; Mo, Young Hak; Park, Jung Min; Lim, Myo Taeg.

In: Journal of Institute of Control, Robotics and Systems, Vol. 18, No. 12, 01.12.2012, p. 1122-1131.

Research output: Contribution to journalArticle

Jeon, Byung Seung ; Lee, Do Young ; Choi, In Hwan ; Mo, Young Hak ; Park, Jung Min ; Lim, Myo Taeg. / Obstacle avoidance method for multi-agent robots using IR sensor and image information. In: Journal of Institute of Control, Robotics and Systems. 2012 ; Vol. 18, No. 12. pp. 1122-1131.
@article{29b551aa3873426eb0fbebc33d1fd2f1,
title = "Obstacle avoidance method for multi-agent robots using IR sensor and image information",
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.",
keywords = "Cooperative robot, Obstacle avoidance, Swarm robot",
author = "Jeon, {Byung Seung} and Lee, {Do Young} and Choi, {In Hwan} and Mo, {Young Hak} and Park, {Jung Min} and Lim, {Myo Taeg}",
year = "2012",
month = "12",
day = "1",
doi = "10.5302/J.ICROS.2012.18.12.1122",
language = "English",
volume = "18",
pages = "1122--1131",
journal = "Journal of Institute of Control, Robotics and Systems",
issn = "1976-5622",
publisher = "Institute of Control, Robotics and Systems",
number = "12",

}

TY - JOUR

T1 - Obstacle avoidance method for multi-agent robots using IR sensor and image information

AU - Jeon, Byung Seung

AU - Lee, Do Young

AU - Choi, In Hwan

AU - Mo, Young Hak

AU - Park, Jung Min

AU - Lim, Myo Taeg

PY - 2012/12/1

Y1 - 2012/12/1

N2 - 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.

AB - 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.

KW - Cooperative robot

KW - Obstacle avoidance

KW - Swarm robot

UR - http://www.scopus.com/inward/record.url?scp=84881262601&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84881262601&partnerID=8YFLogxK

U2 - 10.5302/J.ICROS.2012.18.12.1122

DO - 10.5302/J.ICROS.2012.18.12.1122

M3 - Article

AN - SCOPUS:84881262601

VL - 18

SP - 1122

EP - 1131

JO - Journal of Institute of Control, Robotics and Systems

JF - Journal of Institute of Control, Robotics and Systems

SN - 1976-5622

IS - 12

ER -