A novel sonar-based obstacle detection approach sensor-based coverage problem
Erdem Dilmen, Osman Parlaktuna, Ahmet Taylan Yazıcı · International Conference on Electrical and Electronics Engineering · 2009
In this paper, a vector-projection-based algorithm is developed to detect obstacles in narrow environments. This algorithm can be used for especially sensor-based coverage problems. The algorithm distinguishes the obstacles from the walls around the robot. Sonar vectors are projected on the edge which the robot moves to detect the obstacles. After detecting the obstacle, the size and location of the obstacle are calculated.