Article Obstacle avoidance design for a humanoid intelligent robot with ultrasonic sensors

A behavioral strategy designed for a humanoid intelligent robot for the purpose of obstacle avoidance with ultrasonic sensors is proposed and implemented on an autonomous humanoid robot. A mechanical structure with 4 degrees-of-freedom is designed so that a small-size humanoid robot named ARSR is able to avoid obstacles by different types of walking motion. Four ultrasonic sensors are mounted on the ARSR to sense environmental information and detect obstacles. Based on the information obtained from these sensors, a decision tree method is proposed to decide upon one behavior from three possible types of movement: walk forward, turn left and turn right. Meanwhile, three exper-iments are carried out to show how the robot can autonomously avoid obstacles to effectively arrive at its destination. The result shows that the proposed algorithm outperforms previous obstacle avoidance algorithm by reducing around 25 % of time