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All Journal International Journal of Electrical and Computer Engineering MEDIA KOMUNIKASI TEKNIK SIPIL Jurnal Teknik ITS JURNAL KARYA TEKNIK SIPIL IPTEK Journal of Proceedings Series TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics Jurnal Penelitian Hasil Hutan Jurnal Ilmiah Kursor Journal of Engineering and Technological Sciences Jurnal Riset Industri Seminar Nasional Informatika (SEMNASIF) Prosiding Forum Studi Transportasi Antar Perguruan Tinggi Jurnal Riset Industri Hasil Hutan Seminar Nasional Teknologi Informasi Komunikasi dan Industri Gelar : Jurnal Seni Budaya JAVA Journal of Electrical and Electronics Engineering Fairness and Justice: Jurnal Ilmiah Ilmu Hukum Indonesian Journal of Electrical Engineering and Computer Science JAREE (Journal on Advanced Research in Electrical Engineering) Jurnal Nasional Teknik Elektro dan Teknologi Informasi Sewagati Journal of Contemporary Law Studies Indonesian Journal of Law and Justice
Djoko Purwanto
Departemen Teknik Elektro Institut Teknologi Sepuluh Nopember
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Journal : Journal of Engineering and Technological Sciences

 1 
A New Obstacle Avoidance Method for Service Robots in Indoor Environments Budiharto, Widodo; Santoso, Ari; Purwanto, Djoko; Jazidie, Achmad
Journal of Engineering and Technological Sciences Vol 44, No 2 (2012)
Publisher : ITB Journal Publisher, LPPM ITB

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (517.279 KB) | DOI: 10.5614/itbj.eng.sci.2012.44.2.4

Abstract

The objective of this paper is to propose an obstacle avoidance method for  service  robots  in  indoor  environments  using  vision  and  ultrasonic  sensors. For  this research,  the  service  robot  was  programmed  to  deliver  a  drinking  cup from a specified starting point to the recognized customer. We have developed three main modules: one for face recognition, one for obstacle detection, and one for avoidance maneuvering. The obstacle avoidance system is based on an edg edetection  method  using  information  from  the  landmark  and  planned-path generation. Speed, direction and distance of the moving obstacle are measured using  vision  and  distance  sensors  in  order  for  the robot  to  make  an avoidance maneuver. Algorithms for obstacle avoidance are proposed and a new geometric model is introduced for making good avoidance maneuvers. The main aim of this research is to provide a complete mechanism for obstacle avoidance by vision based service robots, where common obstacle avoidance methods, such as PVM, do  not  provide  such  a  feature.  We  present the results  of  an  experiment  with  a service  robot  in  which  the  proposed  method  was  implemented,  after  which  its performance is evaluated.
A New Obstacle Avoidance Method for Service Robots in Indoor Environments Widodo Budiharto; Ari Santoso; Djoko Purwanto; Achmad Jazidie
Journal of Engineering and Technological Sciences Vol. 44 No. 2 (2012)
Publisher : Institute for Research and Community Services, Institut Teknologi Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.5614/itbj.eng.sci.2012.44.2.4

Abstract

The objective of this paper is to propose an obstacle avoidance method for  service  robots  in  indoor  environments  using  vision  and  ultrasonic  sensors. For  this research,  the  service  robot  was  programmed  to  deliver  a  drinking  cup from a specified starting point to the recognized customer. We have developed three main modules: one for face recognition, one for obstacle detection, and one for avoidance maneuvering. The obstacle avoidance system is based on an edg edetection  method  using  information  from  the  landmark  and  planned-path generation. Speed, direction and distance of the moving obstacle are measured using  vision  and  distance  sensors  in  order  for  the robot  to  make  an avoidance maneuver. Algorithms for obstacle avoidance are proposed and a new geometric model is introduced for making good avoidance maneuvers. The main aim of this research is to provide a complete mechanism for obstacle avoidance by vision based service robots, where common obstacle avoidance methods, such as PVM, do  not  provide  such  a  feature.  We  present the results  of  an  experiment  with  a service  robot  in  which  the  proposed  method  was  implemented,  after  which  its performance is evaluated.
Co-Authors Achmad Jazidie Adrie Sentosa Ainuddin, Emha Amelia Kusuma Indriastuti Amelia Kusuma Indriastuti, Amelia Anas Maulidi Utama Anda Ferwira Andri Widihandoko Andrian, Muhammad Yunus Anifatul Faricha Arhamsyah Arhamsyah, Arhamsyah Ari Santoso Ari Santoso Ari Santoso Astria Nur Irfansyah Attamimi, Muhammad Bima Sena Bayu Dewantara Budi Tri Cahyana, Budi Tri Budiman, Fajar Chastine Fatichah Dermawan, Dimas Imam Devy Kuswidiastuti Diah Kusumawati, Diah Elfrin P. Hsb. Enny Zulaika EPF Eko Yulipriyono, EPF Epf. Eko Yulipriyono Felix Gunawan Furqan Aliyuddien Gangsarestu, Muhammad Soleh Garudio Kusuma Aji Handry Khoswanto Hani Avrilyantama Hany Ferdinando Hari Agus Sujono Harianto Harianto Haris Hariza Ekarinda Helmy Widyantara Hendra Kusuma Hendro Juwono Irfansyah, Astria Nur Ismiyati Ismiyati Jamhari Jamhari Kami Hari Basuki Kami Hari Basuki Kelvin Liusiani Kusuma, Hendra Siswanto M. Rivai Mannarul Hidayah Muchammad Ainur Fahd Muchammad Ainur Fahd Muhammad Attamimi Muhammad Hilman Fatoni Muhammad Ichlasul Salik Muhammad Rivai Muhammad Rivai Muhammad Rivai Muhammad Yunus Andrian Muharom, Syahri Nanda, Muhammad Achirul Naysila, Novita Prajna Wirya Kencana Putra Purbaningtyas, Retno Utami Putra, Karisma Trinanda Rahayu, Vidya Windi Retno Tri Wahyuni Rinne Nintasari Riza Agung Rizki Anhar R.P. Ronny Mardianto Ronny Mardiyanto, Ronny Rudy Dikairono Ruth Johana Hutagalung Setiawardhana Setiawardhana Setiawardhana Sonny H. Suryani, Santy Diah Suwito Suwito Takayuki Nagai Taufiq, Husen Totok Mujiono, Totok Tri Arief Sardjono Try Yuliandre Pajar Uroidhi, Ali Wahyudi Kushardjoko Widodo Budiharto Widodo Budiharto Widodo Budiharto Yunardi, Riky Tri