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Obstacle avoidance, in robotics, is a critical aspect of autonomous navigation and control systems. It is the capability of a robot or an autonomous system/machine to detect and circumvent obstacles in its path to reach a predefined destination. This technology plays a pivotal role in various fields, including industrial automation, self ...
The velocity obstacle VO AB for a robot A, with position x A, induced by another robot B, with position x B and velocity v B.. In robotics and motion planning, a velocity obstacle, commonly abbreviated VO, is the set of all velocities of a robot that will result in a collision with another robot at some moment in time, assuming that the other robot maintains its current velocity. [1]
The first step in collision avoidance is perception, which can use sensors like LiDAR, visual cameras, thermal or IR cameras, or solid-state devices. They are divided upon the part of the electromagnetic spectrum they use. There are two types of sensors, passive and active sensors. Examples of active sensors are LiDAR, Radar and Sonar. Examples ...
It makes use of histograms of images captured by a camera in real-time and does not make use of any distance measurements to achieve obstacle avoidance. An improved algorithm called the HIS-Dynamic mask allocation (HISDMA) has also been designed. The algorithms were tested on an in-house custom built robot called the VITAR.
A. Puntambekar, Terrain Mapping and Obstacle Detection for Unmanned Autonomous Ground Robots Without Sensor Stabilization, M.S. Thesis, October 18, 2006 (Full thesis, PPT Presentation). Solving Urban Transit Problems using SLAM based Algorithms - December 7, 2006
Forward sensing control uses collision avoidance sensors to avoid collisions with other AGV in the area. These sensors include: sonic, which work like radar; optical, which uses an infrared sensor; and bumper, physical contact sensor. Most AGV's are equipped with a bumper sensor of some sort as a fail-safe.
Currently, these systems use infrared sensors and cameras to monitor the driver's attentiveness through eye-tracking. [18] If the vehicle detects a possible obstacle, it will notify the driver and if no action is taken, the vehicle may react to the obstacle.
Third-generation and newer models have additional forward-looking infrared sensors to detect obstacles. These sensors slow down the Roomba's speed when nearing obstacles to reduce its force of impact. [13] It also cleans along walls without repeatedly bumping into them. This technology can also distinguish between hard and soft obstacles.
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