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Proceedings Paper

Real-time obstacle avoidance based on sensory information
Author(s): Massimo Ianigro; Tiziana D'Orazio; Francesco P. Lovergine; Ettore Stella; Arcangelo Distante
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Paper Abstract

Detecting unexpected obstacles and avoiding collisions is an important task for any autonomous mobile robot. In this paper we describe an approach using a sonar-based system that we have used in our indoor autonomous mobile system. The logical design of this system is shown, followed by a description of how it builds a knowledge of the environment. The information collected of the environment can be used for many applications like real-time obstacle avoidance, environment learning, position estimation. This method builds up two kind of maps: a occupancy grid which contains the probability value of each cell to be occupied and a orientation map which contains the expected orientation of the surface of each cell in the occupancy grid. Methods for filtering raw sensor data before using it for map generation together with experimental results are shown.

Paper Details

Date Published: 4 May 1993
PDF: 12 pages
Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); doi: 10.1117/12.143838
Show Author Affiliations
Massimo Ianigro, Istituto Elaborazione Segnali e Immagini/CNR (Italy)
Tiziana D'Orazio, Istituto Elaborazione Segnali e Immagini/CNR (Italy)
Francesco P. Lovergine, Istituto Elaborazione Segnali e Immagini/CNR (Italy)
Ettore Stella, Istituto Elaborazione Segnali e Immagini/CNR (Italy)
Arcangelo Distante, Istituto Elaborazione Segnali e Immagini/CNR (Italy)


Published in SPIE Proceedings Vol. 1831:
Mobile Robots VII
William J. Wolfe; Wendell H. Chun, Editor(s)

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