Geometry Based Approach to Obstacle Avoidance of Triomnidirectional Wheeled Mobile Robotic Platform

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/js/volume-2017/2849537/figures/2849537.fig.003a.svgz" name="2849537.fig.003a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Working principle of Ping Ultrasonic Sensor</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/js/volume-2017/2849537/figures/2849537.fig.003b.svgz" name="2849537.fig.003b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Flat obstacle at angle to Ping Ultrasonic Sensor</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/js/volume-2017/2849537/figures/2849537.fig.003c.svgz" name="2849537.fig.003c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Too small obstacle in front of Ping Ultrasonic Sensor</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/js/volume-2017/2849537/figures/2849537.fig.003d.svgz" name="2849537.fig.003d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Too soft obstacle in front of Ping Ultrasonic Sensor</td></tr></table>

<div>Effect of type and orientation of obstacles on the response of ultrasonic sensors.</div>

Journal of Sensors

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Figure 3

Figure 3: Geometry Based Approach to Obstacle Avoidance of Triomnidirectional Wheeled Mobile Robotic Platform 