Obstacle A voidance with Ultrasonic Sensors
JOHANN BORENSTEIN AND YORAM KOREN
Abstract-A mobile robot system, capable of performing various tasks for the physically disabled, has been developed. To avoid collision with unexpected obstacles, the mobile robot uses ultrasonic range finders for detection and mapping. The obstacle avoidance strategy used for this robot is described. Since this strategy depends heavily on the performance of the ultrasonic range finders, these sensors and the effect of their limitations on the obstacle avoidance algorithm are discussed in detail. This communication describes some features of a mobile nursing robot system, which is produced as an aid for bedridden who acquire constant assistance for the most elementary needs. Such a device, it is hoped, will return a measure of independence to many bedridden
persons as well as reducing the number of those in need of hospitalization and constant attendance [22], [23]. The workspace of
the nursing robot would be usually confined to one room, either in a hospital or in the user's home. This limitation is important since the constant presence of the disabled person as a supervisor for the robot's activities greatly facilitates the design of our system and makes it more economic compared with other similar mobile robots. Our system is composed of three major subsystems: a mobile carriage, a robot mounted on it, and a computerized post next to the disabled person's bed. To interact intelligently with its environment, the robot utilizes the following sensors: 1) two ultrasonic range finders mounted on the vehicle to detect obstacles and provide information to detour the obstacle; 2) microswitches attached to the vehicle bumpers to detect collisions with obstacles that were not found out by the range finders; 3) incremental encoders attached to the wheels to monitor the incremental position of the vehicle;4) light sources attached to the walls and a rotating light-detecting sensor located on the vehicle to update the absolute position of the vehicle in the room;
5) force sensors integrated into the robot's gripper to ensure proper handling of various objects;
6) a video camera attached to the arm to permit the detection and acquisition of objects;
7) a speech recognition unit to translate verbal instructions into computer commands. The prototype of the mobile robot is shown in Fig. 1. It comprises the carriage which houses the computers and the electronic hardware and a commercially available five-degrees-of-freedom (DOF) manip-
ulator. The two ultrasonic transceivers and the light-detecting sensor are attached to joint 1 of the manipulator such that they can rotate about the vertical axis. Fig. 1 also shows the multipurpose gripper with its integrated three-DOF force sensor as well as the floor-level bumper with the microswitches.
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JOHANN BORENSTEIN AND YORAM KOREN
Abstract-A mobile robot system, capable of performing various tasks for the physically disabled, has been developed. To avoid collision with unexpected obstacles, the mobile robot uses ultrasonic range finders for detection and mapping. The obstacle avoidance strategy used for this robot is described. Since this strategy depends heavily on the performance of the ultrasonic range finders, these sensors and the effect of their limitations on the obstacle avoidance algorithm are discussed in detail. This communication describes some features of a mobile nursing robot system, which is produced as an aid for bedridden who acquire constant assistance for the most elementary needs. Such a device, it is hoped, will return a measure of independence to many bedridden
persons as well as reducing the number of those in need of hospitalization and constant attendance [22], [23]. The workspace of
the nursing robot would be usually confined to one room, either in a hospital or in the user's home. This limitation is important since the constant presence of the disabled person as a supervisor for the robot's activities greatly facilitates the design of our system and makes it more economic compared with other similar mobile robots. Our system is composed of three major subsystems: a mobile carriage, a robot mounted on it, and a computerized post next to the disabled person's bed. To interact intelligently with its environment, the robot utilizes the following sensors: 1) two ultrasonic range finders mounted on the vehicle to detect obstacles and provide information to detour the obstacle; 2) microswitches attached to the vehicle bumpers to detect collisions with obstacles that were not found out by the range finders; 3) incremental encoders attached to the wheels to monitor the incremental position of the vehicle;4) light sources attached to the walls and a rotating light-detecting sensor located on the vehicle to update the absolute position of the vehicle in the room;
5) force sensors integrated into the robot's gripper to ensure proper handling of various objects;
6) a video camera attached to the arm to permit the detection and acquisition of objects;
7) a speech recognition unit to translate verbal instructions into computer commands. The prototype of the mobile robot is shown in Fig. 1. It comprises the carriage which houses the computers and the electronic hardware and a commercially available five-degrees-of-freedom (DOF) manip-
ulator. The two ultrasonic transceivers and the light-detecting sensor are attached to joint 1 of the manipulator such that they can rotate about the vertical axis. Fig. 1 also shows the multipurpose gripper with its integrated three-DOF force sensor as well as the floor-level bumper with the microswitches.
DOWNLOAD FULL REPORT HERE
if u like the post just say thank u in comment box.
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