Real-time obstacle avoidance for a mobile robot in an uncertain environment

被引：0

作者：

Wen, Fan ^{[1
]}

Qu, Zhen-Shen ^{[1
]}

Wang, Chang-Hong ^{[1
]}

机构：

[1] Space Control and Inertia Technology Research Center, Harbin Institute of Technology

来源：

Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University | 2009年 / 30卷 / 07期

关键词：

Mobile robots; Particle filter; Robot obstacle avoidance; Template matching; Template updating;

D O I：

10.3969/j.issn.1006-7043.2009.07.006

中图分类号：

学科分类号：

摘要：

To improve the obstacle avoidance of mobile robots in uncertain environments, a real-time obstacle avoidance algorithm based on template matching and updating was proposed. First, scene information was obtained by a vision sensor, and compared with template images stored in the robot. The scene's free space and obstructed space were then confirmed. Secondly, the robot's running orientation and speed were determined using the visual attractive force (VAF) method. To deal with variations in the scene's illumination, a template updating algorithm based on a particle filter was adopted. In order to test the correctness and validity of the method, experiments were conducted using many types of scenes. Experimental results showed that the method detects and reliably avoids both stationary and moving obstacles. This validates the real-time property and robustness of the algorithm.

引用

页码：751 / 756

页数：5

共 12 条

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