I
nte
rna
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n
(
I
J
RA
)
Vo
l.
4
,
No
.
3
,
Sep
tem
b
er
2
0
1
5
,
p
p
.
16
4
~
1
6
7
I
SS
N:
2089
-
4856
164
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ia
e
s
jo
u
r
n
a
l.c
o
m/o
n
lin
e/in
d
ex
.
p
h
p
/I
J
RA
O
bsta
cle
Avo
ida
ce Robo
t
Using
La
bView
Sw
a
chet
a
Dut
t
a
,
S
m
rit
i B
a
rua
h,
P
o
o
j
a
Sh
a
rm
a
,
T
a
s
her
Ali Shei
kh
,
Sa
ha
dev
Ro
y
El
e
c
tro
n
ics
a
n
d
Co
m
m
u
n
ica
ti
o
n
En
g
in
e
e
rin
g
,
Na
ti
o
n
a
l
In
st
it
u
te
o
f
T
e
c
h
n
o
lo
g
y
,
A
ru
n
a
c
h
a
l
P
ra
d
e
sh
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
A
p
r
12
,
2
0
1
5
R
ev
i
s
ed
J
u
l
2
6
,
2
0
1
5
A
cc
ep
ted
A
u
g
1
0
,
2
0
1
5
T
h
e
c
o
n
c
e
p
t
o
f
p
a
th
p
lan
n
i
n
g
a
n
d
c
o
ll
isio
n
a
v
o
id
a
n
c
e
a
re
t
w
o
o
f
th
e
m
o
st
c
o
m
m
o
n
th
e
o
ries
a
p
p
li
e
d
f
o
r
d
e
sig
n
in
g
a
n
d
d
e
v
e
lo
p
i
n
g
in
a
d
v
a
n
c
e
d
a
u
to
n
o
m
o
u
s
ro
b
o
ti
c
s
a
p
p
li
c
a
ti
o
n
s.
NI
L
a
b
V
iew
m
a
k
e
s
it
p
o
ss
ib
le
t
o
im
p
le
m
e
n
t
re
a
l
-
ti
m
e
p
ro
c
e
ss
o
r
f
o
r
o
b
sta
c
le
a
v
o
id
a
n
c
e
.
T
h
e
o
b
sta
c
le
a
v
o
id
a
n
c
e
stra
teg
y
e
n
su
re
s
th
a
t
th
e
ro
b
o
t
w
h
e
n
e
v
e
r
se
n
se
s
th
e
o
b
s
tac
le
sto
p
s
w
it
h
o
u
t
b
e
in
g
c
o
ll
i
d
e
d
a
n
d
m
o
v
e
s
f
re
e
l
y
w
h
e
n
p
a
th
is
f
r
e
e
,
b
u
t
so
m
e
ti
m
e
s
th
e
re
e
x
ists
a
p
ro
b
a
b
il
it
y
th
a
t
o
n
c
e
th
e
p
a
t
h
is
f
o
u
n
d
f
re
e
a
n
d
t
h
e
r
o
b
o
t
sta
rts
m
o
v
in
g
,
th
e
n
w
it
h
in
a
f
ra
c
ti
o
n
o
f
m
il
li
se
c
o
n
d
s,
th
e
r
o
b
o
t
a
g
a
in
se
n
se
th
e
o
b
sta
c
le
a
n
d
it
sto
p
s
.
T
h
is
c
o
n
ti
n
u
o
u
s
sw
in
g
o
f
sto
p
a
n
d
ru
n
w
it
h
in
a
v
e
r
y
s
m
a
ll
p
e
rio
d
o
f
ti
m
e
m
a
y
c
a
u
s
e
h
e
a
v
y
b
u
rd
e
n
o
n
t
h
e
sy
ste
m
lea
d
in
g
to
m
a
lf
u
n
c
ti
o
n
in
g
o
f
th
e
c
o
m
p
o
n
e
n
ts
o
f
th
e
sy
ste
m
.
T
h
is
p
a
p
e
r
d
e
a
ls
w
it
h
o
v
e
rc
o
m
in
g
th
is
d
ra
w
b
a
c
k
in
a
w
a
y
th
a
t
e
v
e
n
a
f
t
e
r
th
e
ro
b
o
t
c
a
lcu
late
s
th
e
p
a
th
is
f
re
e
th
e
n
a
lso
it
w
il
l
w
a
it
fo
r
a
sp
e
c
if
ic
a
m
o
u
n
t
o
f
ti
m
e
b
e
f
o
re
ru
n
n
i
n
g
it
.
S
o
a
s
to
c
o
n
f
ir
m
th
a
t
if
a
g
a
in
th
e
se
n
so
r
d
e
tec
ts
th
e
o
b
sta
c
le
w
it
h
in
th
a
t
sp
e
c
if
ied
p
e
rio
d
th
e
n
ro
b
o
t
d
o
n
‟t
n
e
e
d
to
tran
sit
it
s
sta
te
su
d
d
e
n
ly
th
u
s
a
v
o
id
in
g
c
o
n
t
in
u
o
u
s
tran
siti
o
n
o
f
ru
n
a
n
d
st
o
p
.
T
h
u
s
it
re
d
u
c
e
s
th
e
h
e
a
v
y
b
u
r
d
e
n
o
n
t
h
e
sy
ste
m
.
K
ey
w
o
r
d
:
Da
NI
F
P
GA
I/O
NI
RP
M
S
b
RIO
Co
p
y
rig
h
t
©
201
5
In
s
t
it
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
S
w
ac
h
eta
D
u
tta,
E
lectr
o
n
ics an
d
C
o
m
m
u
n
icat
i
o
n
E
n
g
in
ee
r
i
n
g
,
Natio
n
al
I
n
s
tit
u
te
o
f
T
ec
h
n
o
lo
g
y
,
A
r
u
n
ac
h
al
P
r
ad
esh
-
7
9
1
1
1
2
.
E
m
ail:
s
w
ac
h
eta.
d
u
ttaec
e1
6
@
g
m
a
il.c
o
m
1.
I
NT
RO
D
UCT
I
O
N
I
n
th
i
s
er
a
r
o
b
o
tic
n
av
i
g
atio
n
an
d
its
co
n
tr
o
l
h
as
p
r
o
v
id
ed
v
ar
io
u
s
r
ea
l
li
f
e
ap
p
licatio
n
w
it
h
o
u
t
w
h
ic
h
w
e
ca
n
‟
t
i
m
a
g
i
n
e
o
f
d
o
in
g
w
o
r
k
r
eg
u
lar
l
y
as
th
e
s
e
r
o
b
o
t
r
ed
u
ce
s
h
u
m
a
n
e
f
f
o
r
t
an
d
t
i
m
e
co
n
s
u
m
e.
R
o
b
o
tics
i
s
b
ec
o
m
i
n
g
an
ess
e
n
tial
co
m
p
o
n
en
t
o
f
en
g
i
n
ee
r
in
g
an
d
s
ci
en
ti
f
ic
s
y
s
te
m
.
I
n
r
ec
en
t
y
ea
r
s
,
s
er
v
ice
-
o
r
ien
ted
r
o
b
o
tics
h
as
b
ec
o
m
e
th
e
ar
ea
o
f
r
o
b
o
tics
b
y
p
r
ed
ictin
g
f
o
r
th
e
f
u
t
u
r
e
w
o
r
k
i
n
r
ap
id
g
r
o
w
t
h
f
o
r
d
ev
elo
p
in
g
.
I
t
i
m
m
ed
iatel
y
r
aise
s
t
h
e
tr
e
n
d
t
o
w
ar
d
co
n
tr
o
lli
n
g
th
e
f
u
n
ctio
n
o
f
w
o
r
k
i
n
g
b
y
g
i
v
i
n
g
n
e
w
g
en
er
atio
n
o
f
r
o
b
o
ts
ca
p
ab
le
o
f
in
h
u
m
a
n
-
ce
n
ter
ed
en
v
ir
o
n
m
e
n
ts
,
p
ar
ticip
atin
g
an
d
h
elp
in
g
th
e
m
in
t
h
eir
d
ail
y
lif
e.
Su
c
h
r
o
b
o
tics
s
y
s
te
m
s
n
ee
d
to
b
e
ca
p
ab
le
o
f
lear
n
i
n
g
to
u
s
e
t
h
eir
v
i
s
u
al
f
o
r
m
to
co
m
m
u
n
ica
te
a
n
d
r
ea
ct
b
y
i
n
v
o
lv
i
n
g
to
th
eir
u
s
er
s
[
1
]
.
T
h
e
r
o
b
o
t
ca
n
ac
co
m
p
lis
h
its
i
n
te
n
d
ed
task
in
r
ea
ch
in
g
its
tar
g
e
t
av
o
id
in
g
an
y
co
lli
s
io
n
f
o
r
s
tatic
a
n
d
d
y
n
a
m
ic
e
n
v
ir
o
n
m
en
ts
.
T
h
e
s
er
v
ice
r
o
b
o
t
also
s
h
o
u
ld
h
a
v
e
in
tel
lig
e
n
ce
to
o
f
f
er
th
e
s
er
v
ice
to
h
u
m
a
n
b
y
n
av
i
g
ati
n
g
th
e
i
n
tel
l
ig
en
t
m
o
d
els
[
2
]
.
T
h
e
u
s
e
o
f
r
o
b
o
tics
f
o
r
s
u
ch
cr
u
cial
ap
p
lic
atio
n
s
r
eq
u
ir
es
t
h
at
v
ar
io
u
s
t
y
p
es
o
f
co
m
p
le
x
o
p
er
atio
n
s
r
elate
d
to
n
a
v
i
g
atio
n
,
s
en
s
in
g
,
co
m
p
u
tatio
n
an
d
c
o
m
m
u
n
icatio
n
ar
e
p
er
f
o
r
m
ed
ef
f
ec
ti
v
el
y
[
3
]
.
R
o
b
o
tic
is
b
u
ilt
o
n
f
u
n
d
a
m
e
n
tals
lik
e
tr
an
s
d
u
ce
r
ch
ar
ac
ter
izati
o
n
,
m
o
tio
n
co
n
tr
o
l,
d
ata
ac
q
u
is
i
tio
n
,
k
i
n
e
m
atics,
p
ath
p
lan
n
i
n
g
etc.
[
4
]
.
T
h
e
im
p
o
r
ta
n
t
is
s
u
e
f
o
r
a
r
o
b
o
t
b
y
e
x
p
lo
r
in
g
it
a
n
d
m
ak
in
g
t
h
e
m
ca
p
ab
le
o
f
lear
n
i
n
g
i
n
u
n
k
n
o
w
n
e
n
v
ir
o
n
m
e
n
t
s
.
T
h
e
lear
n
in
g
o
f
ac
cu
r
ate
m
ap
m
o
d
el
s
in
p
r
ac
tical
is
li
m
ited
b
y
m
an
y
f
ac
to
r
s
[
5
,
6
]
.
A
ct
i
v
e
-
lear
n
i
n
g
s
u
p
p
le
m
en
t
to
r
o
b
o
t
an
d
m
u
lti
p
le
ca
p
ab
ilit
ies
f
o
r
ex
p
er
i
m
e
n
tal
p
u
r
p
o
s
e
ca
n
b
e
p
r
o
v
id
ed
b
y
th
e
Natio
n
al
.
I
n
s
tr
u
m
e
n
t
(
NI
)
L
ab
Vie
w
R
o
b
o
tics
Kits
an
d
L
ab
Vie
w
[
7
]
.
Vis
io
n
r
eso
u
r
ce
th
eo
r
y
o
n
i
m
a
g
e
p
r
o
ce
s
s
in
g
tech
n
iq
u
es,
in
f
o
r
m
atio
n
o
n
h
o
w
L
ab
Vie
w
an
d
th
e
NI
Vis
io
n
to
o
lk
it
h
an
d
le
ea
ch
tech
n
iq
u
e,
is
p
r
ese
n
ted
i
n
t
h
e
b
o
o
k
[
8
]
.
T
h
is
p
r
o
v
id
es
h
ar
d
w
ar
e
an
d
s
o
f
t
w
ar
e
th
a
t
en
g
i
n
ee
r
s
a
n
d
s
cie
n
tis
t
s
u
s
e
to
d
esig
n
,
p
r
o
to
t
y
p
e,
d
ep
lo
y
s
y
s
te
m
s
f
o
r
test
,
co
n
tr
o
l
an
d
e
m
b
ed
d
ed
a
p
p
licatio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Ob
s
ta
cle
A
vo
id
a
ce
R
o
b
o
t U
s
in
g
La
b
V
iew
(
S
w
a
ch
eta
Du
tta
)
165
R
o
b
o
tic
n
a
v
ig
a
tio
n
a
n
d
i
ts
c
o
n
tr
o
l
m
ain
l
y
d
ea
l
w
it
h
r
ea
l
-
ti
m
e
o
b
s
tacle
av
o
id
an
ce
.
B
esid
es
t
h
e
ad
v
a
n
ta
g
es,
r
o
b
o
tic
n
av
i
g
atio
n
co
n
tr
o
l
h
a
s
s
o
m
e
ar
ea
s
i
n
w
h
ic
h
it
is
l
ag
g
i
n
g
b
e
h
in
d
to
r
ea
ch
it
p
er
f
ec
tio
n
.
R
o
b
o
t
h
a
s
s
u
f
f
icie
n
t
in
telli
g
en
t
to
co
v
er
th
e
m
a
x
i
m
u
m
ar
ea
.
R
o
b
o
t
u
s
e
s
u
ltra
s
o
n
ic
s
e
n
s
o
r
to
d
etec
t
th
e
o
b
s
tacle
i
n
b
et
w
ee
n
th
e
p
at
h
a
n
d
av
o
id
th
e
m
to
co
m
p
lete
it
s
o
b
j
ec
ti
v
e
[
9
]
.
I
n
th
i
s
p
ap
er
it
d
ea
ls
w
it
h
t
h
e
s
e
n
s
in
g
ca
p
ab
ilit
y
o
f
th
e
r
o
b
o
t
p
r
o
v
id
ed
a
p
ar
ticu
lar
s
p
ec
if
ied
v
alu
e
th
at
ac
t
as
a
th
r
esh
o
ld
d
is
tan
ce
f
o
r
th
e
o
b
s
tacle
d
etec
tio
n
s
o
th
at
it c
a
n
av
o
id
t
h
e
co
llis
io
n
i
m
p
le
m
e
n
ted
in
L
ab
Vie
w
s
o
f
t
w
ar
e.
2.
P
RO
P
O
SE
DE
SI
G
N
M
E
T
H
O
DO
L
O
G
Y
T
h
e
NI
L
ab
v
ie
w
r
o
b
o
tics
k
it
in
cl
u
d
es
DaN
I
;
an
as
s
e
m
b
led
r
o
b
o
t
w
ith
f
r
a
m
e,
w
h
ee
ls
,
d
r
iv
es
tr
ai
n
,
m
o
to
r
s
,
tr
an
s
d
u
ce
r
s
,
co
m
p
u
ter
an
d
w
ir
i
n
g
.
DaN
I
2
.
0
h
ar
d
w
a
r
e
p
o
r
tio
n
o
f
th
e
L
ab
v
ie
w
r
o
b
o
tics
s
tar
ter
k
it
t
h
at
is
u
s
ed
in
o
u
r
e
x
p
er
i
m
e
n
t,
is
an
o
u
t
o
f
th
e
b
o
x
m
o
b
ile
r
o
b
o
t
p
latf
o
r
m
w
it
h
s
e
n
s
o
r
s
,
m
o
t
o
r
NI
9
6
3
2
Sin
g
le
B
o
ar
d
r
ec
o
n
f
ig
u
r
ab
le
I
/O
(
Sb
R
I
O)
co
m
p
u
ter
m
o
u
n
ted
o
n
th
e
to
p
o
f
a
p
its
co
T
E
T
R
I
X
er
e
cto
r
r
o
b
o
tics
s
h
o
w
n
F
ig
u
r
e.
1
.
T
h
e
NI
Sin
g
le
B
o
ar
d
R
1
0
is
an
e
m
b
ed
d
ed
d
ep
lo
y
m
e
n
t
p
latf
o
r
m
t
h
at
i
n
te
g
r
ates
a
r
ea
l
ti
m
e
p
r
o
ce
s
s
o
r
,
r
ec
o
n
f
i
g
u
r
ab
le
f
ield
-
p
r
o
g
r
a
m
m
ab
le
g
ate
ar
r
a
y
(
FP
GA
)
[
7
]
.
Fig
u
r
e
1
.
R
o
b
o
tics
K
it
Her
e,
F
ig
u
r
e
1
.
C
o
m
p
o
n
en
ts
o
f
L
ab
Vie
w
R
o
b
o
tics
Star
ter
Ki
t Ro
b
o
t: 1
.
Sin
g
le
-
B
o
ar
d
R
I
O
co
n
tr
o
ller
,
2
.
Ultr
aso
n
ic
s
en
s
o
r
,
3
.
Mo
t
o
r
,
4
.
NI
Sb
R
I
O
co
m
p
u
ter
5
.
P
its
co
T
E
T
R
I
X
f
r
am
e,
6
.
2
DC
m
o
to
r
w
it
h
q
u
ad
r
atu
r
e
en
co
d
er
s
.
Sin
g
le
B
o
ar
d
R
I
O
p
r
o
d
u
cts
w
h
ic
h
co
n
tai
n
in
te
g
r
ated
FP
GA
tar
g
ets
ar
e
d
ir
ec
tl
y
co
n
n
e
cted
to
t
h
e
I
/
O
m
o
d
u
les
th
at
ac
ce
s
s
s
e
n
s
o
r
a
n
d
ac
t
u
at
o
r
s
d
ata.
FP
GA
au
to
m
atica
ll
y
co
m
m
u
n
icate
w
it
h
in
p
u
t
-
o
u
tp
u
t i.
e.
I
/O
m
o
d
u
le
s
an
d
p
r
o
v
id
e
d
eter
m
in
is
tic
in
p
u
t o
u
tp
u
t (
I
/O)
to
t
h
e
r
ea
l t
i
m
e
p
r
o
ce
s
s
o
r
.
R
o
b
o
tics
s
y
s
te
m
s
ac
q
u
ir
e
d
ata
ab
o
u
t
t
h
e
en
v
ir
o
n
m
e
n
t
ar
o
u
n
d
th
e
m
with
u
ltra
s
o
n
ic
s
e
n
s
o
r
s
s
u
c
h
as
laser
r
an
g
e
f
i
n
d
er
s
an
d
m
o
v
e
t
h
r
o
u
g
h
th
e
u
s
e
o
f
ac
tu
ato
r
s
.
On
t
h
e
s
tar
ter
k
it
r
o
b
o
t,
th
e
d
is
tan
ce
s
en
s
o
r
d
etec
ts
o
b
s
tacle
in
t
h
e
p
ath
o
f
th
e
r
o
b
o
t
b
y
w
h
ic
h
a
s
er
v
o
p
an
s
t
h
e
s
e
n
s
o
r
b
ac
k
an
d
f
o
r
th
.
B
ased
o
n
th
e
o
u
tp
u
t
s
g
e
n
er
ated
b
y
t
h
e
u
ltra
s
o
n
ic
s
e
n
s
o
r
,
t
h
e
r
ea
l
-
ti
m
e
p
r
o
ce
s
s
o
r
p
r
o
v
id
es a
p
u
ls
e
wid
th
m
o
d
u
latio
n
s
i
g
n
al
to
th
e
d
r
iv
e
m
o
to
r
s
f
o
r
t
h
e
r
o
b
o
t.
T
h
e
v
elo
city
o
f
th
e
m
o
t
o
r
s
ca
n
b
e
d
ef
in
ed
in
ter
m
s
o
f
b
o
th
r
o
tatio
n
p
er
m
i
n
(
R
P
M)
o
r
r
ad
ian
s
/s
ec
.
3.
P
R
O
POSE
O
B
ST
ACL
E
A
VO
I
DANC
E
I
M
P
L
E
M
E
NT
AT
I
O
N
T
h
e
L
ab
Vie
w
r
o
b
o
tic
p
latf
o
r
m
p
r
o
v
id
es
u
s
a
s
o
f
t
w
ar
e
d
ev
elo
p
m
e
n
t
s
o
l
u
tio
n
f
o
r
d
esig
n
i
n
g
o
u
r
o
b
s
tacle
av
o
id
an
ce
s
tr
ateg
y
f
o
r
r
o
b
o
t.
NI
L
ab
Vie
w
is
g
r
ap
h
ical
p
r
o
g
r
a
m
m
in
g
lan
g
u
ag
e
w
h
ic
h
in
v
o
lv
e
t
w
o
w
i
n
d
o
w
s
ar
e
b
lo
ck
d
ia
g
r
a
m
s
f
o
r
w
r
i
tin
g
al
l
t
h
e
co
d
es
i
n
a
p
r
o
g
r
a
m
an
d
f
r
o
n
t
p
a
n
el
f
o
r
d
is
p
la
y
i
n
g
all
t
h
e
o
u
tp
u
ts
b
y
p
r
o
v
id
in
g
u
s
er
co
n
tr
o
l.
VI
estab
lis
h
es
a
r
ef
er
en
c
e
to
th
e
p
r
o
g
r
am
th
a
t
r
u
n
s
o
n
th
e
Sb
R
I
O
FP
GA
th
at
cr
ea
tes
a
lin
k
b
et
w
ee
n
c
h
ar
ac
ter
ized
VI
s
o
th
ey
ca
n
e
x
ch
an
g
e
d
ata.
FP
GA
au
to
m
a
tic
all
y
co
m
m
u
n
ica
tes
w
it
h
i
n
p
u
t
/o
u
tp
u
t
(
I
/O)
m
o
d
u
l
es
an
d
p
r
o
v
id
es
s
y
s
te
m
as
r
ea
l
ti
m
e
p
r
o
ce
s
s
o
r
,
w
h
ic
h
ac
q
u
ir
es
th
e
d
ata
f
r
o
m
th
e
u
ltra
s
o
n
ic
tr
a
n
s
d
u
ce
r
.
T
h
e
s
en
s
o
r
is
p
h
y
s
icall
y
w
ir
ed
to
a
te
r
m
in
a
l
o
n
t
h
e
Sb
R
I
O
t
h
at
p
as
s
es
t
h
e
d
ata
to
t
h
e
FP
GA
.
So
f
t
w
ar
e
co
n
f
ig
u
r
es
th
e
FP
G
A
to
co
m
m
u
n
icate
t
h
e
d
ata
o
v
er
th
e
Sb
R
I
O
b
u
s
to
th
e
r
ea
l
-
ti
m
e
p
r
o
ce
s
s
o
r
[
7
]
.
On
th
e
Star
ter
Kit
2
.
0
r
o
b
o
t,
d
esire
d
p
r
o
g
r
a
m
is
d
ep
lo
y
ed
o
n
th
e
FP
GA
(
f
ield
-
p
r
o
g
r
a
m
m
ab
le
g
ate
ar
r
a
y
)
to
lo
o
k
at
th
e
d
ata
f
r
o
m
t
h
e
d
is
ta
n
ce
s
e
n
s
o
r
s
an
d
ad
j
u
s
t th
e
d
r
iv
e
m
o
to
r
s
ac
co
r
d
in
g
to
w
h
ic
h
it r
u
n
s
d
eter
m
in
i
s
ticall
y
s
o
t
h
at
th
e
r
o
b
o
t a
v
o
id
s
o
b
s
tacle
s
.
T
o
d
em
o
n
s
tr
ate
t
h
e
f
u
n
ctio
n
i
n
g
o
f
t
h
e
o
b
s
tacle
av
o
id
an
ce
r
o
b
o
t
w
e
h
a
v
e
p
r
o
p
o
s
ed
a
b
lo
ck
d
iag
r
a
m
s
h
o
w
n
i
n
f
ig
u
r
e.
2
an
d
f
i
g
u
r
e
.
3
in
v
o
l
v
i
n
g
c
ir
cu
it
an
d
it
s
v
ar
io
u
s
i
n
ter
co
n
n
ec
t
io
n
s
.
T
h
e
b
lo
ck
d
iag
r
a
m
i
n
f
i
g
u
r
e.
2
s
tar
ts
w
i
th
t
h
e
i
n
itial
i
ze
Star
ter
Kit
2
.
0
th
at
co
m
m
u
n
icate
s
w
i
th
t
h
e
u
ltra
s
o
n
ic
s
e
n
s
o
r
.
T
h
e
u
ltra
s
o
n
ic
s
en
s
o
r
co
n
ti
n
u
o
u
s
l
y
ac
q
u
ir
es
d
ata
ab
o
u
t
t
h
e
e
n
v
ir
o
n
m
en
t
ar
o
u
n
d
t
h
e
m
a
n
d
g
en
er
ate
s
o
u
tp
u
t
s
i
g
n
al
s
w
h
e
n
ev
er
it
s
en
s
ed
an
y
o
b
s
tacle
i
n
its
f
o
r
w
ar
d
p
ath
.
T
h
e
o
b
s
tacle
is
d
ef
in
ed
b
y
t
h
e
s
en
s
o
r
in
a
w
a
y
t
h
at
a
co
m
p
ar
ato
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
4
,
No
.
3
,
Sep
tem
b
er
2
0
1
5
:
16
4
–
1
6
7
166
w
il
l
co
m
p
ar
e
t
h
e
d
is
ta
n
ce
s
en
s
ed
b
y
t
h
e
u
ltra
s
o
n
ic
s
e
n
s
o
r
w
it
h
a
u
s
er
s
p
ec
i
f
ied
t
h
r
esh
o
ld
d
is
ta
n
ce
f
o
r
av
o
id
an
ce
o
f
co
lli
s
io
n
.
W
e
h
av
e
u
s
ed
a
ca
s
e
s
tr
u
ct
u
r
e
o
f
T
r
u
e
o
r
Fals
e
f
o
r
a
n
al
y
z
in
g
t
h
e
o
u
tp
u
t
o
f
co
m
p
ar
ato
r
.
I
f
th
e
s
e
n
s
o
r
d
is
tan
ce
is
g
r
ea
ter
th
an
t
h
e
t
h
r
es
h
o
ld
d
is
tan
ce
th
e
n
T
r
u
e
ca
s
e
co
n
tin
u
es.
I
n
s
id
e
th
e
T
r
u
e
ca
s
e
a
v
elo
cit
y
p
r
o
v
id
er
o
w
n
in
g
p
alette
i
s
p
lace
d
t
h
at
s
p
ec
if
ies
th
e
r
i
g
h
t
an
d
le
f
t
v
elo
cit
y
o
f
th
e
m
o
to
r
s
o
th
at
r
o
b
o
t c
o
u
ld
m
o
v
e.
Fig
u
r
e
2
.
Si
m
p
le
B
lo
ck
Dia
g
r
a
m
f
o
r
Ob
s
tacle
Av
o
id
an
ce
Fig
u
r
e
3
.
B
lo
ck
Diag
r
a
m
w
i
th
T
im
er
f
o
r
Ob
s
tacle
Av
o
id
an
ce
T
h
e
m
o
to
r
r
u
n
s
i
n
f
o
r
w
ar
d
d
ir
ec
tio
n
u
n
ti
l
t
h
e
o
b
s
tacle
i
s
s
e
n
s
ed
w
ith
in
th
e
th
r
e
s
h
o
ld
r
an
g
e
.
As
w
h
e
n
th
e
o
b
s
tacle
is
d
etec
ted
th
en
in
s
ta
n
tl
y
m
o
to
r
s
to
p
s
r
u
n
n
i
n
g
w
h
ic
h
is
w
it
h
i
n
f
al
s
e
ca
s
e.
I
n
Fals
e
ca
s
e,
th
e
o
w
n
in
g
p
alette
is
p
r
o
v
id
ed
w
i
th
ze
r
o
lef
t
an
d
r
ig
h
t
v
elo
cit
y
s
o
th
at
th
e
m
o
to
r
s
to
p
s
.
A
l
l
th
ese
p
r
o
ce
s
s
es
h
av
e
to
b
e
p
lace
d
in
s
id
e
th
e
w
h
ile
lo
o
p
f
o
r
c
o
n
tin
u
o
u
s
iter
atio
n
.
I
n
itialize
Star
ter
Kit
2
.
0
(
Sb
R
I
O
-
9
6
3
2
)
,
s
en
s
o
r
d
is
tan
ce
co
m
p
ar
ato
r
ca
s
e
s
tr
u
c
tu
r
e
a
n
d
clo
s
e
Star
ter
Kit
h
a
v
e
to
b
e
w
ir
ed
f
o
r
g
ett
in
g
t
h
e
o
u
t
p
u
t si
g
n
al
th
at
h
a
s
to
b
e
p
ass
ed
to
th
e
I
/O.
So
th
at
p
r
o
g
r
am
ca
n
b
e
e
m
b
ed
d
ed
in
th
e
FP
G
A
f
o
r
th
e
d
esire
d
w
o
r
k
.
T
h
e
b
lo
ck
d
iag
r
a
m
o
f
Fi
g
u
r
e
2
h
as d
r
a
w
b
ac
k
s
i
n
o
v
er
co
m
i
n
g
th
e
m
al
f
u
n
ctio
n
o
f
t
h
e
co
m
p
o
n
en
t
s
d
u
e
to
its
o
v
er
b
u
r
d
en
o
v
er
th
e
s
y
s
te
m
ca
u
s
ed
b
y
it
s
co
n
ti
n
u
o
u
s
tr
an
s
i
tio
n
i.e
.
r
u
n
an
d
s
to
p
w
it
h
i
n
a
v
er
y
s
m
all
p
er
io
d
o
f
ti
m
e
.
T
h
e
b
lo
ck
d
iag
r
a
m
Fi
g
u
r
e
3
r
ec
tif
ie
s
th
is
d
r
a
w
b
ac
k
.
Her
e
in
s
id
e
t
h
e
Fal
s
e
c
ase,
a
w
h
i
le
lo
o
p
is
in
tr
o
d
u
ce
w
it
h
i
n
w
h
ich
ti
m
er
cir
cu
it is
p
lace
d
.
Me
as
u
r
ed
ti
m
e
i
n
ter
v
al
i.e
.
F1
is
u
s
er
d
ef
i
n
ed
w
h
ic
h
h
av
e
to
b
e
m
u
ltip
l
y
b
y
th
e
f
ac
to
r
o
f
1
0
0
0
to
g
et
th
e
ti
m
er
in
ter
v
al
i
n
m
ill
is
ec
o
n
d
is
s
h
o
w
n
i
n
Fi
g
u
r
e
2
.
W
ait
u
n
til
Ne
x
t
n
s
m
u
ltip
le
ele
m
e
n
t
is
ca
lcu
lat
in
g
th
e
waitin
g
ti
m
e
o
f
r
o
b
o
t
w
h
e
n
th
e
o
b
s
tacle
r
e
m
o
v
e
f
r
o
m
t
h
e
p
at
h
t
h
en
i
n
s
ta
n
ta
n
eo
u
s
l
y
th
i
s
r
o
b
o
t
w
ai
ts
u
n
ti
l
co
u
n
td
o
w
n
e
n
d
s
.
Af
t
er
f
in
is
h
i
n
g
o
f
t
h
i
s
co
u
n
td
o
w
n
w
ai
tin
g
ti
m
e,
th
e
m
o
to
r
s
tar
tu
p
an
d
r
o
b
o
t
r
u
n
in
th
e
f
o
r
w
ar
d
p
ath
.
A
s
s
h
o
w
n
in
th
e
f
i
g
u
r
e.
3
,
th
e
iter
atio
n
co
u
n
ter
i
s
co
n
n
ec
ted
to
th
e
m
u
ltip
lier
f
o
r
g
e
tti
n
g
th
e
elap
s
ed
ti
m
e.
Fi
g
u
r
e
3
r
e
m
o
v
es
th
e
d
e
m
er
it
s
o
f
Fig
u
r
e
2
as
Fi
g
u
r
e
3
in
tr
o
d
u
ce
th
e
ti
m
er
w
h
ic
h
m
a
k
es
it
ea
s
y
an
d
r
e
m
o
v
e
s
t
h
e
b
u
r
d
en
o
f
r
o
b
o
t
as
in
tr
an
s
itio
n
p
r
o
ce
s
s
o
f
ca
s
e
s
tr
u
ct
u
r
e
in
f
r
a
ctio
n
o
f
s
ec
o
n
d
s
.
4.
F
L
O
W
CH
AT
T
h
e
d
is
tan
ce
s
e
n
s
o
r
o
f
t
h
e
Star
ter
Kit
2
.
0
r
o
b
o
t
r
ea
d
th
e
o
b
s
tacle
d
ata
ac
q
u
ir
ed
ab
o
u
t
th
e
en
v
ir
o
n
m
e
n
t
a
n
d
d
r
iv
es
t
h
e
m
o
to
r
ac
co
r
d
in
g
l
y
.
T
h
e
d
is
ta
n
ce
s
e
n
s
o
r
d
etec
ts
t
h
e
o
b
s
tac
le
if
it
is
w
it
h
i
n
t
h
e
r
an
g
e
o
f
a
u
s
er
d
ef
i
n
ed
th
r
es
h
o
ld
d
is
tan
ce
.
I
f
t
h
e
s
e
n
s
o
r
r
an
g
e
„
m
‟
i
s
g
r
ea
ter
t
h
an
t
h
e
th
r
esh
o
ld
d
is
tan
ce
„
d
‟
th
en
th
e
s
e
n
s
o
r
d
etec
ts
t
h
e
o
b
s
tacle
a
n
d
m
o
to
r
s
to
p
s
r
u
n
n
i
n
g
.
I
t
w
ill
co
n
ti
n
u
e
to
r
e
m
ai
n
i
n
it
s
o
f
f
-
s
tate
u
n
til
th
e
s
e
n
s
o
r
s
en
s
e
s
th
e
f
r
ee
p
ath
.
On
ce
t
h
e
s
en
s
in
g
r
an
g
e
is
b
ey
o
n
d
th
e
t
h
r
es
h
o
ld
d
is
tan
ce
an
d
as
th
e
p
ath
b
ec
o
m
e
f
r
ee
t
h
e
n
t
h
e
r
o
b
o
t te
n
d
s
to
m
o
v
e
b
u
t i
n
o
r
d
er
to
r
ed
u
ce
t
h
e
b
u
r
d
e
n
o
v
er
t
h
e
s
y
s
te
m
d
u
e
to
co
n
t
in
u
o
u
s
r
u
n
a
n
d
s
to
p
,
a
ti
m
er
is
s
et
s
u
ch
t
h
at
e
v
e
n
a
f
ter
t
h
e
s
e
n
s
o
r
d
etec
ts
r
e
m
o
v
al
o
f
o
b
s
tacle
i.e
.
f
r
ee
p
at
h
a
f
ter
t
h
e
o
b
s
tacle
is
o
u
t
o
f
t
h
e
co
v
er
ag
e
r
an
g
e
in
s
tead
o
f
co
n
ti
n
u
o
u
s
m
o
v
e
m
e
n
t.
T
h
e
r
o
b
o
t
w
ai
ts
f
o
r
ce
r
tain
s
p
ec
i
f
ied
ti
m
e
b
e
f
o
r
e
r
u
n
n
i
n
g
ti
m
e
(
g
i
v
en
b
y
th
e
u
s
er
)
in
o
r
d
er
to
av
o
id
th
e
s
u
d
d
en
tr
a
n
s
i
tio
n
i
f
o
n
-
s
tate
a
n
d
o
f
f
-
s
tate
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Ob
s
ta
cle
A
vo
id
a
ce
R
o
b
o
t U
s
in
g
La
b
V
iew
(
S
w
a
ch
eta
Du
tta
)
167
i.e
.
r
u
n
an
d
s
to
p
r
esp
ec
tiv
el
y
w
h
ic
h
m
a
y
ta
k
es
p
lace
if
a
f
ter
d
etec
tio
n
o
f
f
r
ee
p
ath
,
ag
a
in
t
h
e
o
b
s
tacle
ap
p
ea
r
s
w
it
h
i
n
a
f
r
ac
tio
n
o
f
s
ec
o
n
d
s
wh
ich
m
a
y
ca
u
s
e
o
v
er
b
u
r
d
en
o
n
th
e
co
m
p
o
n
e
n
ts
o
f
t
h
e
s
y
s
te
m
.
Fig
u
r
e
4.
P
r
o
p
o
s
e
Flo
w
C
h
at
Her
e,
m
=
d
etec
ted
r
an
g
e
&
d
=
th
r
es
h
o
ld
d
is
tan
ce
.
5.
CO
NCLU
SI
O
N
Ob
s
tacle
av
o
id
an
ce
s
tr
ate
g
y
b
y
d
etec
tin
g
th
e
o
b
s
tacle
in
th
e
p
ath
i
s
i
m
p
o
r
tan
t
i
n
s
cien
ti
f
ic
ex
p
lo
r
atio
n
an
d
e
m
er
g
e
n
c
y
e
n
v
ir
o
n
m
e
n
t.
C
o
n
ti
n
u
o
u
s
d
etec
tio
n
o
f
e
n
v
ir
o
n
m
en
t
is
n
ee
d
ed
w
h
ich
is
d
o
n
e
b
y
th
e
u
l
tr
aso
n
ic
s
e
n
s
o
r
.
I
n
th
i
s
p
ap
er
,
p
r
o
p
o
s
ed
tw
o
b
lo
ck
d
iag
r
a
m
s
f
o
r
o
b
s
ta
cle
av
o
id
an
c
e
i.e
.
Fig
u
r
e
2
an
d
Fig
u
r
e
3
.
Her
e
Fi
g
u
r
e
3
i
s
t
h
e
alter
n
ate
b
lo
ck
d
ia
g
r
a
m
o
f
F
ig
u
r
e
2
f
o
r
th
e
p
r
o
p
er
f
u
n
c
tio
n
i
n
g
o
f
th
e
s
y
s
te
m
b
y
r
ed
u
cin
g
th
e
d
a
m
a
g
e
to
its
co
m
p
o
n
en
ts
.
C
o
n
ti
n
u
o
u
s
s
w
i
n
g
o
f
s
to
p
an
d
r
u
n
as
o
b
s
tacle
m
i
g
h
t
co
m
e
in
t
h
e
p
ath
w
it
h
i
n
f
r
ac
tio
n
o
f
s
ec
o
n
d
s
w
h
ich
ca
n
b
e
o
v
er
co
m
e
b
y
p
laci
n
g
a
w
ai
tin
g
ti
m
e
cir
cu
it.
T
h
is
o
b
s
tacle
av
o
id
a
n
ce
w
ait
in
g
ti
m
e
b
lo
ck
w
ill
f
lo
u
r
i
s
h
i
n
u
p
co
m
i
n
g
y
ea
r
s
f
o
r
av
o
i
d
an
ce
o
f
co
llis
io
n
b
y
d
etec
ti
n
g
th
e
f
o
r
w
ar
d
p
ath
w
it
h
o
u
t h
ar
d
en
i
n
g
in
t
h
e
ele
m
en
ts
i
n
ca
s
e
o
f
i
n
s
tan
ta
n
eo
u
s
tr
an
s
it
io
n
s
tate.
RE
F
E
R
E
NC
E
S
[1
]
.
Ch
a
i
-
L
o
n
g
Ch
a
n
a
n
d
Hs
i
n
-
Ha
n
C
h
ian
g
,
Ye
n
-
L
in
C
h
e
n
a
n
d
G
e
n
g
-
Ye
n
Ch
e
n
,
T
su
-
T
ian
L
e
e
,
“
D
e
v
e
l
o
p
m
e
n
t
o
f
Ha
n
d
-
c
lea
n
in
g
S
e
rv
ice
-
o
rien
ted
A
u
to
n
o
m
o
u
s
Na
v
ig
a
ti
o
n
Ro
b
o
t”,
In
t.
Co
n
f
.
o
n
S
y
ste
m
s,
M
a
n
A
n
d
C
y
b
e
rn
e
ti
c
s,
p
p
.
3
2
2
7
-
3
2
3
2
,
IEE
E
,
2
0
1
2
.
[2
]
.
H.M
.
G
ro
ss
e
t
a
l.
,
“
I‟ll
k
e
e
p
a
n
e
y
e
o
n
y
o
u
:
Ho
m
e
ro
b
o
t
c
o
m
p
a
n
io
n
f
o
r
e
ld
e
rly
p
e
o
p
le
w
it
h
c
o
g
n
it
iv
e
i
m
p
a
ir
m
e
n
t”,
P
r
o
c
.
IEE
E
Co
n
f.
S
y
ste
ms
,
M
a
n
,
a
n
d
Cy
b
e
rn
e
ti
c
s,
p
p
.
2
4
8
1
-
2
4
8
8
,
A
n
c
h
o
ra
g
e
,
A
las
k
a
,
Oc
t.
,
2
0
1
1
.
[3
]
.
M
u
h
a
m
m
a
d
M
y
so
re
w
a
li
,
Kh
a
led
A
lsh
e
h
ri,
E
y
a
d
A
lk
h
a
y
a
t,
A
d
n
a
n
A
l
-
G
h
u
sa
in
,
Om
a
r
A
l
-
Ya
g
o
u
b
,
“
De
sig
n
a
n
d
im
p
le
m
e
n
tatio
n
o
f
F
u
z
z
y
lo
g
ic
b
a
se
d
o
b
sta
c
le
A
v
o
id
a
n
c
e
a
n
d
tar
g
e
t
re
a
c
h
in
g
a
lg
o
rit
h
m
o
n
NI‟s
E
m
b
e
d
d
e
d
F
P
G
A
Ro
b
o
t
P
latf
o
rm
”
,
CIC
A
,
p
p
.
1
6
8
-
1
7
3
,
IEE
E
,
2
0
1
3
.
[4
]
.
P
r
o
f
.
Ak
ra
m
Ho
ss
a
in
,
“
Un
d
e
fi
n
e
d
o
b
st
a
c
le
a
v
o
id
a
n
c
e
a
n
d
p
a
th
p
la
n
n
i
n
g
”
,
1
2
0
th
A
S
EE
A
n
n
u
a
l
Co
n
f
e
re
n
c
e
a
n
d
Ex
p
o
siti
o
n
,
A
m
e
ric
a
n
S
o
c
iety
f
o
r
En
g
in
e
e
rin
g
E
d
u
c
a
ti
o
n
,
2
0
1
3
.
[5
]
.
D.
S
a
n
jay
,
T
.
S
a
t
y
a
S
a
v
it
h
ri,
P
.
R
a
jes
h
Ku
m
a
r,
“
P
e
rso
n
f
o
ll
o
w
e
r
Ro
b
o
ti
c
S
y
ste
m
”
,
ICCICC
T
,
p
p
.
1
3
2
4
-
1
3
2
7
,
IEE
E
,
2
0
1
4
.
[6
]
.
L
iu
,
J.N.K
a
n
d
Ka
n
,
B.
C.
S
,
“
De
v
e
lo
p
m
e
n
t
o
f
th
e
b
in
o
c
u
lar
-
v
isio
n
-
e
n
h
a
n
c
e
m
o
b
il
e
ro
b
o
t
n
a
v
ig
a
ti
o
n
”
,
In
t.
J
.
In
telli
g
e
n
t
S
y
ste
ms
T
e
c
h
n
o
l
o
g
ies
a
n
d
Ap
p
li
c
a
ti
o
n
s
,
V
o
l.
1
0
,
No
.
1
,
p
p
.
1
5
-
4
5
,
2
0
1
1
.
[7
]
.
ww
w
.
n
i.
c
o
m
.
[8
]
.
Ch
risto
p
h
e
r
G
Re
lf
,
“
I
m
a
g
e
a
c
q
u
isit
io
n
a
n
d
p
r
o
c
e
ss
in
g
u
sin
g
L
a
b
Vie
w”
,
CRC P
re
ss
&
n
a
ti
o
n
a
l
In
str
u
m
e
n
ts,
2
0
0
4
.
[9
]
.
Ra
k
e
sh
Ch
a
n
d
ra
Ku
m
a
r,
M
d
.
S
a
d
d
a
m
Kh
a
n
,
Din
e
sh
Ku
m
a
r,
R
a
jes
h
Biru
a
,
S
a
r
m
isth
a
M
o
n
d
a
l,
M
a
n
a
s
Kr.
P
a
ra
i,
“
Ob
sta
c
le
Av
o
id
a
n
c
e
Ro
b
o
t
–
A
P
ro
m
isin
g
On
e
”
,
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
Ad
v
a
n
c
e
d
Res
e
a
rc
h
in
El
e
c
trica
l
,
El
e
c
tro
n
ics
a
n
d
I
n
stru
me
n
t
a
ti
o
n
En
g
i
n
e
e
rin
g
,
V
o
l.
2
,
Iss
u
e
4
,
p
p
.
1
4
3
0
-
1
4
3
4
,
A
p
ril
2
0
1
3
.
Evaluation Warning : The document was created with Spire.PDF for Python.