Avoiding obstacles by using a proximity US/IR sensitive skin

摘要

The problem of developing a sensing system for robots moving in a partially or completely unknown environment is investigated. A model of a generalized sensitive skin based on different types of sensors to be located on the whole surface of a robot is illustrated. A logic and hardware structure of the low-level layer of the skin is proposed to guarantee modularity and consistency of sensory data. A configuration including ultrasonic and infrared proximity sensors was chosen for the implementation of a prototype of the skin. A possible physical layout for obtaining a conformable skin to be used on any kind of robot surface is also presented. Local and general rules for low-level sensory data fusion are defined, and possible improvements of real-time obstacle avoidance path planning strategies are discussed by introducing sensor-based instinctive behaviors. A simulation of a modified potential field-based real-time planner for a mobile robot operating in a partially unknown environments is discussed to demonstrate the feasibility of this approach.