Feasibility Investigation of Obstacle-Avoiding Sensors Unit without Image Processing

Abstract

Feasibility of a simple method to detect step height, slope angle, and trench width using four infrared-light-source PSD range sensors is examined, and the reproducibility and accuracy of characteristic parameter detection are also examined. Detection error of upward slope angle is within 2.5 degrees, while it is shown that the detection error of downward slope angle exceeding 20 degrees is very large. In order to reduce such errors, a method to improve range-voltage performance of a range sensor is proposed, and its availability is demonstrated. We also show that increase in trial frequency is a better way, although so as not to increase the detection delay. Step height is identified with an error of ±1.5 mm. It is shown that trench width cannot be reliably measured at this time. It is suggested that an additional method is needed if we have to advance the field of obstacle detection.

Multi-Terrain Quadruped

“…C. Yu and L. Zhou [13] proposed a body posture correction model for slopes that dynamically adjusts the body posture based on IMU feedback. Y Omura et al [4] proposed a method for wheeled robots to detect stairs, slopes and trenches with an arrangement of four PSD sensors. The classification sensor block presented in this paper is inspired by [4].…”

“…Y Omura et al [4] proposed a method for wheeled robots to detect stairs, slopes and trenches with an arrangement of four PSD sensors. The classification sensor block presented in this paper is inspired by [4]. Two cost-effective ultrasonic sensors (instead of the four PSD sensors used in [4]) are placed one below the other on a platform which is at a height from the robot and angled towards the ground, as shown in Fig.…”

“…12. Equations of [4], which were defined for wheeled robots, were modified to specifically suit quadrupeds. It is capable of detecting both stairs and slopes and also estimates stair height and slope angle.…”

“…Bellardita and Kiehn [3] studied mice, the prevailing model for studying neuronal control of locomotion in mammals. Y Omura et al [4] proposed a method to detect stairs, slopes and trenches with an arrangement of four PSD sensors and algorithms to calculate stair height, step angle and trench width. K. Izumi et al [5] constructed three-dimensional images of the obstacle using visual and ultrasonic sensors.…”

Autonomous obstacle avoidance of an unmanned surface vehicle based on cooperative manoeuvring

“…The fundament of median filter is to use mid-value in a neighbourhood of a point to replace the point. This method is capable of eliminating isolated noise (Omura et al , 2013; Shukla et al , 2014; Vijaykumar et al , 2014). The mid-value of the sample X ( n − N ) · · · X ( n ) · · · X ( n + N ) is selected in the scanning area of LIDAR.…”