Optical flow based robot obstacle avoidance

被引：0
作者：
Centre de Développement des Technologies Avancées CDTA, Houch Oukil, Baba Hassen - Alger, Algeria [1 ]
机构：
[1] Centre de Développement des Technologies Avancées CDTA, Baba Hassen - Alger, Houch Oukil
来源：
Int. J. Adv. Rob. Syst. | 2007年 / 1卷 / 13-16期
关键词：
Balance strategy; Focus of expansion; Obstacle avoidance; Optical flow; Time to contact;
D O I：
10.5772/5715
中图分类号：
学科分类号：
摘要：
In this paper we try to develop an algorithm for visual obstacle avoidance of autonomous mobile robot. The input of the algorithm is an image sequence grabbed by an embedded camera on the B21r robot in motion. Then, the optical flow information is extracted from the image sequence in order to be used in the navigation algorithm. The optical flow provides very important information about the robot environment, like: the obstacles disposition, the robot heading, the time to collision and the depth. The strategy consists in balancing the amount of left and right side flow to avoid obstacles, this technique allows robot navigation without any collision with obstacles. The robustness of the algorithm will be showed by some examples.
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页码：13 / 16
页数：3
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