The objective of this paper is to propose an obstacle avoidance method for service robots in indoor environments using vision and ultrasonic sensors. The service robot in this research is programmed to deliver a drinking cup to the recognized customer from a specified starting point. We have developed three main modules: one for face recognition, one to identify obstacles, and one to maneuver. The detection of static obstacles, which is based on information from the landmark, uses an edge-detection method and is used to generate a planned path. The speed, direction and distance of the moving obstacle are measured by using vision and distance sensors in order for the robot to make a maneuver. Algorithms for obstacle avoidance for service robots are proposed and a new geometrical model is introduced for service robots to make a good avoidance maneuver. The main aim of this research is to provide a complete mechanism for obstacle avoidance by a vision-based service robot, whereas popular obstacle avoidance methods such as PVM do not provide such a feature. We present the results of an experiment with a service robot in which our proposed method was implemented, after which we evaluate its performance.

Original languageEnglish
Pages (from-to)148-167
Number of pages20
JournalITB Journal of Engineering Science
Volume44 B
Issue number2
Publication statusPublished - 2012


  • Moving obstacle
  • Obstacles avoidance
  • Robot vision
  • Service robot


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