Obstacle Avoidance Based on Optical Flow for Mobile Robots in Unknown Environment

被引：2

作者：

Dai, Bixia ^{[1
]}

Li, Wei ^{[1
]}

机构：

[1] Univ Elect Sci & Technol China, Chengdu, Peoples R China

来源：

2014 SEVENTH INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE AND DESIGN (ISCID 2014), VOL 2 | 2014年

关键词：

Mobile robot; Obstacle avoidance; Unknown environment; Optical flow; TTC;

D O I：

10.1109/ISCID.2014.286

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A new method for mobile robot to avoiding obstacle in unknown environment is present in this paper. The robots trajectory is modified with obstacles distribution through obstacle map, which is computed using optical flow (OF) and Time to Contact (TTC) provide by a monocular vision sensor. In this paper, the field of view (FOV) is divided into several equal column, each column have a value which determined by OF, TTC and target bias is used to determine the preference heading direction. Take a comparison with use OF or TTC only, our method is more appropriate for avoid obstacles, because it can not only release the dependence on texture and light of the environment, but only it can reduce the impact on TTC which is caused by noise pixel. Simulation results verify that our method is effective.

引用

页码：599 / 602

页数：4