Moving obstacle avoidance using a LRF sensor

被引：0
|
作者：
Sohn, Won-Jong [1 ]
Hong, Keum-Shik [2 ]
机构：
[1] Pusan Natl Univ, Dept Mech & Intelligent Syst Engn, Pusan 609735, South Korea
[2] Pusan Natl Univ, Sch Mech Engn, Pusan 609735, South Korea
来源：
2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13 | 2006年
关键词：
Kalman filter; obstacle avoidance; linux-RTAI; segmentation;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：3018 / +
页数：2
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