| Summary: | 碩士 === 中華科技大學 === 電子工程研究所碩士班 === 98 === This paper uses the integrated techniques to combine ultrasonic and CMOS image sensors for a wheeled mobile robot to avoid obstacles and move to target location. For small convex obstacles, the CMOS image sensor will be used to capture visual information in the front of robots. By using the image channel select method, an obstacle-free path in the workspace is found for a wheeled mobile robot so that the robot can arrive at the goal location safely. Next, let us consider a large convex obstacle, the obstacle detection carried out by six ultrasonic sensors imposed on the platform of wheeled mobile robots. The PD controller is applied to realize wall following algorithm by keeping the pre-designed distance from robot to obstacle. Wall following algorithm is a popular and useful technique to obtain the shortest obstacle-free path for mobile robot navigation. Experimental results show that the proposed real-time obstacles avoidance system is applicable, and gives good results.
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