Vision-Based Collision Avoidance for Service Robot

  • Mateus MendesEmail author
  • A. Paulo Coimbra
  • Manuel M. Crisóstomo
  • Manuel Cruz
Conference paper


ASSIS is a service robot which uses a camera, sonars and infra-red sensors for navigation. It uses images stored into a Sparse Distributed Memory, implemented in parallel in a Graphics Processing Unit, as a method for robot localization and navigation. It is controlled from a web-based interface. Algorithms for following previously learnt paths using visual and odometric information are described. A stack-based method for avoiding random obstacles, using visual information, is proposed. The results show the algorithms are adequate for indoors robot localization and navigation.


Autonomous navigation Obstacle avoidance SDM Service robot Vision-based navigation Vision-based localization 



The authors acknowledge Fundacão para a Ciência e a Tecnologia (FCT) and COMPETE 2020 program for the financial support to the project UID-EEA-00048-2013.


  1. 1.
    W. Burgard, D. Fox, G. Lakemeyer, D. Haehnel, D. Schulz, W. Steiner, S. Thrun, A. Cremers, Real robots for the real world—the rhino museum tour-guide project, in Proceedings of the 1998 AAAI Spring Symposium (1998)Google Scholar
  2. 2.
    L.A. Jaeckel, An alternative design for a sparse distributed memory, in Technical Report (Research Institute for Advanced Computer Science, NASA Ames Research Center, 1989)Google Scholar
  3. 3.
    P. Kanerva, Sparse Distributed Memory (MIT Press, Cambridge, 1988)zbMATHGoogle Scholar
  4. 4.
    R. Kittmann, T. Fröhlich, J. Schäfer, U. Reiser, F. Weißhardt, A. Haug, Let me introduce myself: i am care-o-bot 4, a gentleman robot. Mensch und computer 2015–proceedings (2015)Google Scholar
  5. 5.
    S. Konstantopoulos, I. Androutsopoulos, H. Baltzakis, V. Karkaletsis, C. Matheson, A. Tegos, P. Trahanias, Indigo: Interaction with personality and dialogue enabled robots (2008)Google Scholar
  6. 6.
    Y. Matsumoto, K. Ikeda, M. Inaba, H. Inoue, Exploration and map acquisition for view-based navigation in corridor environment, in Proceedings of the International Conference on Field and Service Robotics (1999), pp. 341–346Google Scholar
  7. 7.
    M. Mendes, A.P. Coimbra, M.M. Crisóstomo, Improved vision-based robot navigation using a sdm and sliding window search. Eng. Lett. 19(4) (2011)Google Scholar
  8. 8.
    M. Mendes, A.P. Coimbra, M.M. Crisóstomo, Intelligent robot navigation using view sequences and a sparse distributed memory. Paladyn J. Behav. Robot. 1(4) (2011).
  9. 9.
    M. Mendes, A.P. Coimbra, M.M. Crisóstomo, Robot navigation based on view sequences stored in a sparse distributed memory. Robotica (2011)Google Scholar
  10. 10.
    M. Mendes, A.P. Coimbra, M.M. Crisóstomo, Circumventing obstacles for visual robot navigation using a stack of odometric data, in 2017 Lecture Notes in Engineering and Computer Science: Proceedings of The World Congress on Engineering, London, UK (2017), pp. 172–177Google Scholar
  11. 11.
    M. Mendes, M.M. Crisóstomo, A.P. Coimbra, Robot navigation using a sparse distributed memory, in Proceedings of the IEEE International Conference on Robotics and Automation. Pasadena, California, USA (2008)Google Scholar
  12. 12.
    M. Mendes, M.M. Crisóstomo, A.P. Coimbra, Assessing a sparse distributed memory using different encoding methods, in Proceedings of the World Congress on Engineering (WCE) London, UK (2009)Google Scholar
  13. 13.
    R.P.N. Rao, D.H. Ballard, Object indexing using an iconic sparse distributed memory. Technical Report 559, The University of Rochester, Computer Science Department, Rochester, New York (1995)Google Scholar
  14. 14.
    B. Ratitch, D. Precup, Sparse distributed memories for on-line value-based reinforcement learning, in ECML (2004)Google Scholar
  15. 15.
    A. Rodrigues, A. Brand\(\tilde{\rm a}\)o, M. Mendes, A.P. Coimbra, F. Barros, M. Crisóstomo, Parallel implementation of a sdm for vision-based robot navigation, in 13th Spanish-Portuguese Conference on Electrical Engineering (13CHLIE), Val\(\hat{\rm e}\)ncia, Spain (2013)Google Scholar
  16. 16.
    R. Tellez, F. Ferro, S. Garcia, E. Gomez, E. Jorge, D. Mora, D. Pinyol, J. Oliver, O. Torres, J. Velazquez, et al., Reem-b: an autonomous lightweight human-size humanoid robot, in 2008 8th IEEE-RAS International Conference on Humanoid Robots (IEEE, 2008), pp. 462–468Google Scholar

Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Mateus Mendes
    • 1
    Email author
  • A. Paulo Coimbra
    • 2
  • Manuel M. Crisóstomo
    • 2
  • Manuel Cruz
    • 2
  1. 1.Polytechnic Institute of Coimbra - ESTGOH and Institute of Systems and RoboticsCoimbraPortugal
  2. 2.Institute of Systems and RoboticsUniversity of CoimbraCoimbraPortugal

Personalised recommendations