This work focuses on the development of an effective collision avoidance algorithm that detects and avoids obstacles autonomously in the vicinity of a potential collision by using a single ultrasonic sensor and controlling the movement of the vehicle. The objectives are to minimise the deviation from the vehicle’s original path and also the development of an algorithm utilising one of the cheapest sensors available for very lost cost systems. For instance, in a scenario where the main ranging sensor malfunctions, a backup low cost sensor is required for safe navigation of the vehicle while keeping the deviation to a minimum. The developed algorithm utilises only one ultrasonic sensor and approximates the front shape of the detected object by sweeping the sensor mounted on top of the unmanned vehicle. In this proposed approach, the sensor is rotated for shape approximation and edge detection instead of moving the robot around the encountered obstacle. It has been tested in various indoor situations using different shapes of objects, stationary objects, moving objects, and soft or irregularly shaped objects. The results show that the algorithm provides satisfactory outcomes by entirely avoiding obstacles and rerouting the vehicle with a minimal deviation.

这项工作专注于开发一种有效的避免碰撞算法，该算法通过使用单个超声波传感器并控制车辆的运动，自动检测并避免潜在碰撞附近的障碍。目的是最大程度地减少与车辆原始路径的偏离，并开发一种算法，该算法利用成本最昂贵的系统中可用的最便宜的传感器之一。例如，在主测距传感器发生故障的情况下，需要备用的低成本传感器来使车辆安全行驶，同时将偏差保持在最小水平。所开发的算法仅利用一个超声波传感器，并通过扫掠安装在无人驾驶车辆顶部的传感器来近似检测物体的前部形状。在这种提议的方法中，旋转传感器进行形状近似和边缘检测，而不是使机器人绕过遇到的障碍物移动。它已在各种室内情况下使用不同形状的物体，固定物体，运动物体以及柔软或不规则形状的物体进行了测试。结果表明，该算法通过完全避免障碍物并以最小偏差重新路由车辆而提供了令人满意的结果。