Abstract
Aimy — an Autonomous Mobile Robot (AMR), capable of moving in an unknown environment filled with obstacles, has been developed. To avoid collision with unexpected obstacles, an Infrared Detector System (IDS) for providing multiple reading data was designed and implemented. A navigation/obstacle avoidance strategy for a mobile robot, which is based on the use of infrared detector data only, is discussed. Experiment results are also presented which exhibit the power of the developed algorithm and Infrared Detector System.
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.References
Bennamoun, M., Masound, A. A., Bamsay, M. A. and Bayoumi, M. M.: Avoidance of unknown obstacles using proximity fields,IEEE/RSJ Int. Workshop on Intelligent Robots and Systems, 1991.
Carvounas, L. Bienfait, V. and Issac, R.: Mobile Robot Guidance System, Stevens Institute of Technology Technical report 917, 1991.
Drumheller, M.: Mobile robot localization using sonar, inIEEE Trans. on PAMI, March 1987.
Flynn, A. M.: Combining sonar and infrared sensors for mobile robot navigation,Int. J. Robotics Res. 7(6) (1988).
Lumelsky, V. J. and Stepanov, A. A.: Dynamic path planning for a mobile automaton with limited information on the environment,IEEE Trans. on Automatic Control AC-31, Nov. 1986.
Lumelsky, V. J. and Skewis, T.: Incorporating range sensing in the robot navigation function,IEEE Trans. on SMC,20(5) (1990).
Malik, R. and Yu, H. M.: Obstacle avoidance with infrared detector ring, in23th Annual Pittsburgh Conf. Modeling and Simulation, 1992.
McKerrow, P. J.:Introduction to Robotics, Addison-Wesley, 1991.
Sankaranarayanan, A. and Vidyasagar, M.: A new path planning algorithm for moving a point object amidst unknown obstacles in a plane, inProc. 1990 IEEE Int. Conf. Robotics and Automation, 1990.
Schwartz, J. T. and Sharir, M.: On the ‘Piano movers’ problem: 1. The case of a two-dimensional rigid polygonal body moving amidst polygonal barriers,Comm. Pure Appl. Math. 1983.
Turnennout, P., Egmond, E. L., Hondered, G. and Jongkind, W.: Obstacle avoidance for a mobile robot, inIEEE/RSJ Workshop on Intelligent Robots and Systems, Japan, 1989.
Yap, C. K.: Algorithmic Motion Planning, in J. Schwartz and C. Yap (eds),Advances in Robotics, Vol. 1:Algorithmic and Geometric Aspects, Erlbaum, Hillsdale, NJ, 1987.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Yu, H., Malik, R. Aimy: An autonomous mobile robot navigation in unknown environment with infrared detector system. J Intell Robot Syst 14, 181–197 (1995). https://doi.org/10.1007/BF01559611
Received:
Accepted:
Issue Date:
DOI: https://doi.org/10.1007/BF01559611