Low-cost map building and obstacle avoidance of miniature reconnaissance robot

Xuanyang Shi; Junyao Gao; Yi Liu; Jingchao Zhao; Fangzhou Zhao; Haoxiang Cao; Chuzhao Liu

doi:10.1109/ROBIO.2016.7866323

Low-cost map building and obstacle avoidance of miniature reconnaissance robot

Xuanyang Shi, Junyao Gao, Yi Liu, Jingchao Zhao, Fangzhou Zhao, Haoxiang Cao, Chuzhao Liu

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

Abstract

Miniature robots can't carry too many sensors for obstacle avoidance due to its small volume. In this paper, we applied the method based on low-cost local map for obstacle avoidance that uses infrared sensors and MPU6050. Firstly, we introduced the robot and its kinematic model. Secondly, proposed the criterion of robot be trapped. Thirdly, we studied the infrared data filtering with FIR filter and local map building. Fourthly, proposed the free movement area method for two wheeled robot route planning. Finally, we did the contrast experiment, result shows that the robot can escape from the U-shape trap that use the method applied in this paper while the traditional method can't.

Original language	English
Title of host publication	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	208-213
Number of pages	6
ISBN (Electronic)	9781509043644
DOIs	https://doi.org/10.1109/ROBIO.2016.7866323
Publication status	Published - 2016
Event	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 - Qingdao, China Duration: 3 Dec 2016 → 7 Dec 2016

Publication series

Name	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

Conference

Conference	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Country/Territory	China
City	Qingdao
Period	3/12/16 → 7/12/16

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10.1109/ROBIO.2016.7866323

Cite this

Shi, X., Gao, J., Liu, Y., Zhao, J., Zhao, F., Cao, H., & Liu, C. (2016). Low-cost map building and obstacle avoidance of miniature reconnaissance robot. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 (pp. 208-213). Article 7866323 (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2016.7866323

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title = "Low-cost map building and obstacle avoidance of miniature reconnaissance robot",

abstract = "Miniature robots can't carry too many sensors for obstacle avoidance due to its small volume. In this paper, we applied the method based on low-cost local map for obstacle avoidance that uses infrared sensors and MPU6050. Firstly, we introduced the robot and its kinematic model. Secondly, proposed the criterion of robot be trapped. Thirdly, we studied the infrared data filtering with FIR filter and local map building. Fourthly, proposed the free movement area method for two wheeled robot route planning. Finally, we did the contrast experiment, result shows that the robot can escape from the U-shape trap that use the method applied in this paper while the traditional method can't.",

author = "Xuanyang Shi and Junyao Gao and Yi Liu and Jingchao Zhao and Fangzhou Zhao and Haoxiang Cao and Chuzhao Liu",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 ; Conference date: 03-12-2016 Through 07-12-2016",

year = "2016",

doi = "10.1109/ROBIO.2016.7866323",

language = "English",

series = "2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Shi, X, Gao, J, Liu, Y, Zhao, J, Zhao, F, Cao, H & Liu, C 2016, Low-cost map building and obstacle avoidance of miniature reconnaissance robot. in 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016., 7866323, 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Institute of Electrical and Electronics Engineers Inc., pp. 208-213, 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Qingdao, China, 3/12/16. https://doi.org/10.1109/ROBIO.2016.7866323

Low-cost map building and obstacle avoidance of miniature reconnaissance robot. / Shi, Xuanyang; Gao, Junyao; Liu, Yi et al.
2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 208-213 7866323 (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Low-cost map building and obstacle avoidance of miniature reconnaissance robot

AU - Shi, Xuanyang

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AU - Cao, Haoxiang

AU - Liu, Chuzhao

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N2 - Miniature robots can't carry too many sensors for obstacle avoidance due to its small volume. In this paper, we applied the method based on low-cost local map for obstacle avoidance that uses infrared sensors and MPU6050. Firstly, we introduced the robot and its kinematic model. Secondly, proposed the criterion of robot be trapped. Thirdly, we studied the infrared data filtering with FIR filter and local map building. Fourthly, proposed the free movement area method for two wheeled robot route planning. Finally, we did the contrast experiment, result shows that the robot can escape from the U-shape trap that use the method applied in this paper while the traditional method can't.

AB - Miniature robots can't carry too many sensors for obstacle avoidance due to its small volume. In this paper, we applied the method based on low-cost local map for obstacle avoidance that uses infrared sensors and MPU6050. Firstly, we introduced the robot and its kinematic model. Secondly, proposed the criterion of robot be trapped. Thirdly, we studied the infrared data filtering with FIR filter and local map building. Fourthly, proposed the free movement area method for two wheeled robot route planning. Finally, we did the contrast experiment, result shows that the robot can escape from the U-shape trap that use the method applied in this paper while the traditional method can't.

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M3 - Conference contribution

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BT - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

Shi X, Gao J, Liu Y, Zhao J, Zhao F, Cao H et al. Low-cost map building and obstacle avoidance of miniature reconnaissance robot. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 208-213. 7866323. (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016). doi: 10.1109/ROBIO.2016.7866323

Low-cost map building and obstacle avoidance of miniature reconnaissance robot

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