Multiple Moving Obstacles Avoidance of Service Robot using Stereo Vision
Abstract: 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.
Author: Widodo Budiharto, Ari
Santoso, Djoko Purwanto, Achmad Jazidie
Journal Code: jptkomputergg110051
