The Development of Obstacle Recognition Method for Indoor Navigation of a Mobile Robot

초록

There are some problems in robot navigation with a single kind of sensor. We propose a system that takes advantages of both CCD camera and ultrasonic sensor for the concerning matter. An coordinate extraction algorithm to avoid obstacles during the navigation is also proposed. We implemented a CCD based vision system at the front part of the vehicle and did experiments to verify the suggested algorithm's availability. From experimental results, the error rate was reduced when a CCD camera was used. Also used information on size of obstacles by conformed, we can generate path to avoid those obstacles.