Vision-based obstacle avoidance for a small, Low-cost robot.

Viet, Chau Nguyen and Marshall, Ian W. (2007) Vision-based obstacle avoidance for a small, Low-cost robot. In: ICAR 2007, 1900-01-01.

PDF (27256.pdf)

Download (1MB)


This paper presents a vision-based obstacle avoidance algorithm for a small indoor mobile robot built from low-cost, and off-the-shelf electronics. The obstacle avoidance problem in robotics has been researched extensively and there are many well established algorithms for this problem. However, most of these algorithms are developed for large robots with expensive, specialised sensors, and powerful computing platforms. We have developed an algorithm that can be implemented on very small robots with low-cost electronics and small computing platforms. Our vision-based obstacle detection algorithm is fast and works with very low resolution images. The control mechanism utilises both visual information and sonar sensor’s measurement without having to fuse the data into a model or common representation. The robot platform was tested in an unstructured office environment and demonstrated a reliable obstacle avoidance behaviour.

Item Type: Contribution to Conference (Paper)
Journal or Publication Title: ICAR 2007
Uncontrolled Keywords: /dk/atira/pure/researchoutput/libraryofcongress/qa75
Departments: Faculty of Science and Technology > Lancaster Environment Centre
ID Code: 27256
Deposited By: Users 810 not found.
Deposited On: 09 Oct 2009 13:19
Refereed?: Yes
Published?: Published
Last Modified: 15 Sep 2019 23:42

Actions (login required)

View Item View Item