1P1-L03 3D Range Scan with Movable IR Range Sensor and Obstacle Avoidance of Autonomous Mobile Robot(Wheeled Robot/Tracked Vehicle)
Hideo Ayusawa, Duy Hinh Nguyen, Xiqian Wu, Daisuke Iwakura, Kenzo NONAMI · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2011
In our study group, we have developed a micro air vehicle (MAV). However, it has an inevitable limit of performance due to its low payload and short duration of flight. As a solution to these limitations we proposed the development of an unmanned ground vehicle (UGV) to be used with the MAV's when deployed for a mission. This study proposed a low cost, simple and light weight system that can detect obstacles such as wall or bumps on the path surface using movable IR range sensors. In addition, this study also proposed an UGV navigation algorithm applying potential method. This algorithms which depends on the data gathered by the IR range sensors leads our UGV to reach destination in unknown areas without human navigation.