Obstacle and optimal heading direction detection algorithm on a mobile robot platform Mobi̇l robot platformu üzeri̇nde engel algilanmasi ve opti̇mal yȯnün beli̇rlenmesi̇


KARAKAYA S. , Küçükyildiz G., OCAK H. , BİNGÜL Z.

2012 20th Signal Processing and Communications Applications Conference, SIU 2012, Fethiye, Mugla, Turkey, 18 - 20 April 2012 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/siu.2012.6204691
  • City: Fethiye, Mugla
  • Country: Turkey

Abstract

In this study, Sick-LMS100 Lidar was used for detecting the obstacles around a mobile robot platform and finding the best heading direction. The computer and the LIDAR were communicated via Ethernet TCP/IP in order to gather position information of the objects around. The algorithm, which was developed in Visual Basic 6.0 environment, chose the optimal heading direction relative to the positions of the obstacles. The gathered path information was then sent to a DSP for motor control via serial port. A mobile robot platform was developed during the study and the optimum heading direction finding algorithm was tested on this mobile robot platform in real time. The results which were gathered in several conditions were compared. © 2012 IEEE.