Real-Time Obstacle Avoidance for Humanoid-Controlled Mobile Platform Navigation

摘要

This project presents a new approach of humanoid-operated mobile platform. We are using humanoid robot NAO by Aldebaran Robotics. NAO is chosen because of its versatility. Its wide range of movements allows it to perform various tasks such as steering through a simple programming algorithm. The system integration between NAO and the mobile platform is done through using Arduino microcontroller interface. This project consists of several parts. This paper focuses in the implementation of developed control system integration to new mobile platform as an improvement from previous research. We integrate Hokuyo URG-04LX Laser Range Finder in the navigation system and it shows very good result as the platform able to avoid obstacles while navigating. We conduct obstacle avoidance experiment and the result shows that the new platform is more suitable to fit NAO handling for navigation.