The Method of Obstacle Avoidance in a Mobile Robot for Rehabilitation Assistance using Sensor Unio

초록

With recent economical advance there is a massive movement for the better welfare society. In the field of medical-supporting system, rehabilitation engineering has been highly recognized and stressed. Based on fundamental studies, such as medical electronics, bio-engineering and information engineering, many practical electronic supporting practical electronic supporting system for the disabled is a mobile robot. When a mobile navigates through the given path, in a corridor environment, There are some problems in robot navigation with a single kind of sensor. In this paper, a method of sensor union is proposed to determine the width of an obstacle on the path and to avoid obstacles during th navigation, With data from ultrasonic sensor array and processed CCD camera image, the width of the obstacle is produced. with this information, the mobile robot can process proper path plan. From experimental results, the error rate was reduced when a DDC camera was used rate than when only ultrasonic sensors were used.