Reactive obstacle avoidance implementation for humanoid controlled mobile platform navigation
Ilmi Mohd Ariffin, Azhar Baharudin, Hanafiah Yussof, Mohd Azfar Miskam · 2016
This paper presents a new approach of humanoid-operated 4-wheeled mobile platform navigation. The robot used in this work is Nao by Aldebaran Robotics. Nao is chosen because of its versatility. Its wide range of movements allows it to perform various tasks such as steering through a simple programming algorithm. Arduino microcontroller target board is used to provide the interface between Nao robot and the mobile platform whilst humanoid robot NAO act as the main processing unit for the whole system. This project consists of several parts. This paper focuses in the development of a sensing system based using Hokuyo URG-04LX Laser Range Finder and the implementation of reactive obstacle avoidance approach. Experimental test has been performed under several scenarios to determine the best setting for the mobile navigation.