Obstacle Avoidance of Mobile Robot Based on HyperOmni Vision

被引：14

作者：

Li, Shih-An ^{[1
]}

Chou, Li-Hsiang ^{[1
]}

Chang, Tsung-Han ^{[1
]}

Yang, Chao-Hsu ^{[1
]}

Chang, Yu-Cheng ^{[1
]}

机构：

[1] Tamkang Univ, Elect & Comp Engn, 151 Ying Chuan Rd, New Taipei, Taiwan

来源：

SENSORS AND MATERIALS | 2019年 / 31卷 / 03期

关键词：

dynamic window approach; artificial potential field; HyperOmni Vision; mobile robot; obstacle avoidance;

D O I：

10.18494/SAM.2019.2226

中图分类号：

TH7 [仪器、仪表];

学科分类号：

0804 ; 080401 ; 081102 ;

摘要：

In this paper, we present a method that combines an improved dynamic window approach (IDWA) and an artificial potential field to avoid obstacles for autonomous wheeled robots with HyperOmni Vision. The experimental environment follows the rule of RoboSot avoidance challenge in the Federation of International Robot-soccer Association (FIRA) competition. There arc three parts of this study, namely, (1) image processing, (2) an IDWA, and (3) an improved artificial potential field. In the avoidance challenge in FIRA, the robot must avoid eight obstacles that are placed randomly in the playing field. The results indicate that the three-wheeled robot can avoid obstacles autonomously by using the method proposed in this paper. Our team won the FIRA avoidance challenge championship this year by the method proposed in this paper.

引用

页码：1021 / 1036

页数：16

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