Development of size dependent obstacle avoidance algorithm for mobile robots

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Dr. Kiss Bálint
Department of Control Engineering and Information Technology

Mobile robots may be one of the most improving sectors of the robotics. We can think about self-driving cars or rovers on Mars. Moreover, they are in our everyday life too, as a robot vacuum cleaner or robot lawn mower. Mobile robots can use many methods to navigate and to move in their environment. One of them is when they follow a predefined track, e.g. a line on the floor. We call these robots line-following mobile robots. The movement of these robots is operated by the simple “keep the line in the center” algorithm; they observe the line with some kind of reflective sensors.

The line-following mobile robots’ task is usually is transport loads from point “A” to point “B” in factories, warehouses or in hospitals. It is possible that there is an obstacle on the line impeding the movement. It is necessary that the robot can detect and avoid this obstacle without human intervention. We may ignore the size and shape of the obstacle ahead, the avoidance method is expected to estimate the size on-line and redesign the avoidance path.

In this BSc degree thesis I’m working on line-following mobile robots size dependent obstacle avoiding algorithm, where the estimate of the size is based on distance measurements, the positon of the obstacle is defined by odometric information.

As the result of the development the robot is able to estimate the size of the detected object, with the information of the estimate it can design an avoidance path and able to move on it, moreover it can redesign the path based on the observation of the obstacle. The algorithm was tested in laboratory, simulating real situations.


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