Study on Real-Time Obstacle Avoidance of Mobile Robot Based on Vision Sensor

被引：0

作者：

Wen, Fan ^{[1
]}

Qu, Zhenshen ^{[1
]}

Wang, Changhong ^{[1
]}

Hu, Bin ^{[1
]}

机构：

[1] Harbin Inst Technol, Space Control & Inertia Technol Res Ctr, Harbin 150001, Heilongjiang Pr, Peoples R China

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS, VOLS 1-6 | 2008年

关键词：

Obstacle avoidance; Template matching; Template updating; Particle filter;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Aiming at the problem of obstacles avoidance from a single camera mounted on a robot in an unstructured indoor environment, the paper proposed an algorithm based on template matching. Firstly, the scene's free space and obstructed space can be obtained by means of template matching. Secondly, we can get the robot's running orientation and speed from the free space based on the method of Visual Attractive Force (VAF). Considering the variation of the lighting, we designed a template updating algorithm based on particle filter. In order to test the validity of the method, a lot of experiments were conducted in various lighting condition. The results show that the method could detect and avoid stationary obstacles and moving obstacles reliably. Meanwhile, the real- time property and robustness of the system have been validated.

引用

页码：2438 / 2442

页数：5

共 17 条

[1]

BRAILLON C, 2006, INT VEH S, P466

[2] FACE RECOGNITION - FEATURES VERSUS TEMPLATES [J].

BRUNELLI, R ;

POGGIO, T .

IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, 1993, 15 (10) :1042-1052

[3]

Cassandra AR, 1996, IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3, P963, DOI 10.1109/IROS.1996.571080

[4] The arc-transversal median algorithm: A geometric approach to increasing ultrasonic sensor azimuth accuracy [J].