Identification of types of obstacles for mobile robots

Yusuke Tamura, Yu Murai, Hiroki Murakami, Hajime Asama

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


For service robots coexisting with humans, both safety and working efficiency are very important. In order for robots to avoid collisions with surrounding obstacles, the robots must recognize obstacles around them. In dynamic environments, not only currently moving obstacles but also movable obstacles should be recognized. In this paper, three types of obstacles, such as stationary, movable and moving, are defined, and a method to identify the type of obstacles is proposed. The experiments using a mobile robot were conducted to evaluate the usefulness of the method.

Original languageEnglish
Pages (from-to)99-105
Number of pages7
JournalIntelligent Service Robotics
Issue number2
Publication statusPublished - 2011 Apr
Externally publishedYes


  • Laser range finder
  • Mobile robot
  • Obstacle map

ASJC Scopus subject areas

  • Computational Mechanics
  • Engineering (miscellaneous)
  • Mechanical Engineering
  • Artificial Intelligence


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