Mobile robot obstacle avoidance in a computerized travel aid for the blind

摘要

A blind traveler walking through an unfamiliar environment and a mobile robot navigating through a cluttered environment have an important feature in common: both have the kinematic ability to perform the motion, but are depended on a sensory system to detect and avoid obstacles. This paper describes the use of a mobile robot obstacle avoidance system as a guidance device for blind and visually impaired people. Just like electronic signals are sent to a mobile robot's motor controllers, auditory signals can guide the blind traveler around obstacles, or alternatively, they can provide an "acoustic image" of the surroundings. The concept has been implemented and tested in a new traveling aid for the blind, called the Navbelt. Experimental results of subjects traveling with the Navbelt in different surroundings are presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>