Multiple Moving Obstacles Avoidance of Service Robot using Stereo Vision
In this paper, we propose a multiple moving obstacles avoidance using stereo vision for service robots in indoor environments. We assume that this model of service robot is used to deliver a cup to the recognized customer from the starting point to the destination. The contribution of this research is a new method for multiple moving obstacle avoidance with Bayesian approach using stereo camera. We have developed and introduced 3 main modules to recognize faces, to identify multiple moving obstacles and to maneuver of robot. A group of people who is walking will be tracked as a multiple moving obstacle, and the speed, direction, and distance of the moving obstacles is estimated by a stereo camera in order that the robot can maneuver to avoid the collision. To overcome the inaccuracies of vision sensor, Bayesian approach is used for estimate the absense and direction of obstacles. We present the results of the experiment of the service robot called Srikandi III which uses our proposed method and we also evaluate its performance. Experiments shown that our proposed method working well, and Bayesian approach proved increasing the estimation perform for absence and direction of moving obstacle.
Acosta L, González EJ, Rodríguez JN, Hamilton AF, Méndez JA, Hernéndez S, Sigut SM, Marichal GN. Design and Implementation of a Service Robot for A Restaurant. International Journal of robotics and automation. 2006; 21(4): 273-281.
Qing-wiau Y, Can Y, Zhuang F, Yan-Zheng Z. Research of the Localization of Restaurant Service Robot. International Journal of Advanced Robotic Systems. 2010; 7(3): 227-238.
Chatib O. Real-Time Obstacle Avoidance for Manipulators and Mobile Robots. The International Journal of Robotics Research. 1986; 5(1): 90-98.
Borenstein J, Koren Y. The Vector Field Histogram- Fast Obstacle Avoidance for Mobile Robots. IEEE Trans. On Robotics and Automation. 1991; 7(3): 278-288.
Widodo SW. Penerapan Multi Mikrokontroler pada Model Robot Mobil Menggunakan Logika Fuzzy. TELKOMNIKA Indonesian Journal of Electrical Engineering. 2009; 7(3): 213-218.
Masehian E, Katebi Y. Robot Motion Planning in Dynamic Environments with Moving Obstacles and Target. International Journal of Mechanical Systems Science and Engineering. 2007; 1(1): 20-29.
Budiharto W, Purwanto D, Jazidie A. A Robust Obstacle Avoidance for Service Robot using Bayesian Approach. International Journal of Advanced Robotic Systems. 2011; 8(1): 52-60.
Budiharto W, Purwanto D, Jazidie A. A Novel Method for Static and Moving Obstacle Avoidance for Service robot using Bayesian Filtering. Proceeding of IEEE 2nd International conf. on Advances in Computing, Control and Telecommunications Technology. 2010: 156-160.
Purwanto D. Visual Feedback Control in Multi-Degrees-of-Freedom Motion System. PhD Thesis. Keio: Graduate School of Science and Technology - Keio University, Japan; 2001.
Turk M, Pentland A. Eigenfaces for recognition. International Journal of Cognitive Neuroscience. 1991; 3(1): 71-86.
Belhumeur P, Kriegman D. What is the set of images of an object under all possible illumination conditions. International Journal of Computer Vision. 1998; 28( 3): 245-260.
Etemad K, Chellappa R. Discriminant analysis for recognition of human face images. Journal of the Optical Society of America A. 1997; 14( 8): 1724-1733.
Budiharto W, Santoso A, Purwanto D, Jazidie A. An Improved Face recognition System for Service Robot using Stereo Vision. In: Tudor Barbu Editor. Face Recognition / Book 3. Austria: Intech Publisher; 2011: 1-12.
Hu H, Brady M. A Bayesian Approach to Real-Time Obstacle Avoidance for a Mobile Robot. Autonomous Robots. 1994; 1(1): 69-92.
- There are currently no refbacks.
Copyright (c) 2014 Universitas Ahmad Dahlan
TELKOMNIKA Telecommunication, Computing, Electronics and Control
ISSN: 1693-6930, e-ISSN: 2302-9293
Universitas Ahmad Dahlan, 4th Campus, 9th Floor, LPPI Room
Jl. Ringroad Selatan, Kragilan, Tamanan, Banguntapan, Bantul, Yogyakarta, Indonesia 55191
Phone: +62 (274) 563515, 511830, 379418, 371120 ext. 4902, Fax: +62 274 564604
View TELKOMNIKA Stats
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.