Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 30663
A Real Time Collision Avoidance Algorithm for Mobile Robot based on Elastic Force

Authors: Kyung Hyun, Choi, Minh Ngoc, Nong, M. Asif Ali, Rehmani


This present paper proposes the modified Elastic Strip method for mobile robot to avoid obstacles with a real time system in an uncertain environment. The method deals with the problem of robot in driving from an initial position to a target position based on elastic force and potential field force. To avoid the obstacles, the robot has to modify the trajectory based on signal received from the sensor system in the sampling times. It was evident that with the combination of Modification Elastic strip and Pseudomedian filter to process the nonlinear data from sensor uncertainties in the data received from the sensor system can be reduced. The simulations and experiments of these methods were carried out.

Keywords: Collision Avoidance, Avoidance obstacle, Elastic Strip, Real time collision avoidance

Digital Object Identifier (DOI):

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1582


[1] P. Moravec, "Certainty Grids for Mobile Robots", Proceedings of the NASA/JPL Space Telerobotics Workshop, Vol. 3, January 1987, pp. 307~312.
[2] O. Khatib, "Real-time obstacle avoidance for manipulators and mobile robot", The Int. Journal Robotics Research, Vol. 5, No. 1, 1986.
[3] J.Borenstein and Y. Koren, "The vector field histogram-fast obstacle avoidance for mobile robot", IEEE Trans. Robotics Automate., Vol. 7, No. 3, June 1991, pp.278~288.
[4] O. Khatib, "Motion coordination and reactive control of autonomous multi-manipulator system", Journal of Robotic Systems, Vol. 15, No. 4, 1996, pp. 300~319.
[5] O. Khatib, "Robot In Human Environments: basic Autonomous Capabilities", The International journal of Robotics Research, Vol. 18, No. 7, 1999, pp. 684~696.
[6] Kyung-Hyun Choi, Su-Jeong Cho, Byung-Kook Kim, "A Study on Behavior-based Hybrid Control For elderly Assistant Robot", The 1st Korean-Austrian Automation Day, May 2006, pp.153~161.
[7] Borda, Robert P. and James D. Frost, Jr., "Error reduction in small sample averaging through the use of the median rather than the mean." Electroenceph Clin Neurophysiol, vol. 25, 1968, pp. 391-392.
[8] Tukey, J. W. Exploratory Data Analysis. Reading, MA: Addison- Wesley, 1971. 30. Rosenfeld, Azriel and Avinash C. Kak. Digital Picture Processing. Orlando: Academic, 1982.
[9] Nodes, Thomas A. and Neal C. Gallagher, Jr., "The output distribution of median type filters." IEEE Trans Commun, v. COM-32 n, May 1984, pp. 532-541. 79
[10] Nodes, Thomas A. and Neal C. Gallagher, Jr., "Median filters: some modifications and their properties." IEEE Trans Acoust Speech Signal Process, v. ASSP-30 n., November 1982, pp. 739-746.
[11] Pratt, William K., Ted J. Cooper, and Ihtisham Kabir, "Pseudomedian filter." Proc SPIE, v. 534, 1985, pp. 34-43.
[12] Nak Yong Ko, Reid G. Simmons, and Dong Jin Seo, , "Trajectory Modification Using Elastic Force for Collision Avoidance of a Mobile Manipulator", PRICAI Workshop., Aug 2006, pp. 1214~1224.