Moving Obstacle Avoidance Using a LRF Sensor
Won-Jong Sohn, Keum‐Shik Hong · 2006 SICE-ICASE International Joint Conference · 2006
In this paper, an obstacle avoidance algorithm using a laser range finder (LRF) sensor for a mobile manipulator is investigated. A moving obstacle is regarded as a moving circle and therefore the obstacle detection problem becomes the problem of finding the center of a moving circle and its radius. To estimate the position and velocity of the obstacle, Kalman filter is designed. Using velocity and angular velocity of obstacle, we consider that the obstacle move straight. So we forecast a collision of robot and obstacle. Experimental results are provided