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Vol. 32, No. 8(2), S&M2292

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Sensors and Materials, Volume 31, Number 3(3) (2019)
Copyright(C) MYU K.K.
pp. 1021-1036
S&M1832 Research Paper of Special Issue
https://doi.org/10.18494/SAM.2019.2226
Published: March 29, 2019

Obstacle Avoidance of Mobile Robot Based on HyperOmni Vision [PDF]

Shih-An Li, Li-Hsiang Chou, Tsung-Han Chang, Chao-Hsu Yang, and Yu-Cheng Chang

(Received November 23, 2018; Accepted February 7, 2019)

Keywords: dynamic window approach, artificial potential field, HyperOmni Vision, mobile robot, obstacle avoidance

In this paper, we present a method that combines an improved dynamic window approach (IDWA) and an artificial potential field to avoid obstacles for autonomous wheeled robots with HyperOmni Vision. The experimental environment follows the rule of RoboSot avoidance challenge in the Federation of International Robot-soccer Association (FIRA) competition.There are three parts of this study, namely, (1) image processing, (2) an IDWA, and (3) an improved artificial potential field. In the avoidance challenge in FIRA, the robot must avoid eight obstacles that are placed randomly in the playing field. The results indicate that the three-wheeled robot can avoid obstacles autonomously by using the method proposed in this paper. Our team won the FIRA avoidance challenge championship this year by the method proposed in this paper.

Corresponding author: Shih-An Li


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Cite this article
Shih-An Li, Li-Hsiang Chou, Tsung-Han Chang, Chao-Hsu Yang, and Yu-Cheng Chang, Obstacle Avoidance of Mobile Robot Based on HyperOmni Vision, Sens. Mater., Vol. 31, No. 3, 2019, p. 1021-1036.



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