A robust obstacle avoidance for service robot using Bayesian approach

Widodo Budiharto*, Djoko Purwanto, Achmad Jazidie

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

24 Citations (Scopus)

Abstract

The objective of this paper is to propose a robust obstacle avoidance method for service robot in indoor environment. The method for obstacles avoidance usesinformation about static obstacles on the landmark using edge detection. Speed and direction of people that walks as moving obstacle obtained by single camera using tracking and recognition system and distance measurement using 3 ultrasonic sensors. A new geometrical model and maneuvering method for moving obstacle avoidance introduced and combined with Bayesian approach for state estimation. The obstacle avoidance problem is formulated using decision theory, prior and posterior distribution and loss function to determine an optimal response based on inaccurate sensor data. Algorithms for moving obstacles avoidance method proposed and experiment results implemented to service robot also presented. Various experiments show that our proposed method very fast, robust and successfully implemented to service robot called Srikandi II that equipped with 4 DOF arm robot developed in our laboratory.

Original languageEnglish
Pages (from-to)37-44
Number of pages8
JournalInternational Journal of Advanced Robotic Systems
Volume8
Issue number1
DOIs
Publication statusPublished - Mar 2011

Keywords

  • Bayesian
  • Moving obstacle
  • Navigation
  • Obstacles avoidance
  • Service robot

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