A Kind of Obstacle Avoidance Method for Mobile Robot Based on Omni-vision Camera

摘要：

This paper proposes a novel method of obstacle avoidance for mobile robot according to the working principle and image isotropic property of the omni-vision camera. Through statistical analysis of peripheral obstacles and calculation of risk for the robot moving to each direction, so the safest motion direction can be obtained to avoid collision. By the experiment it is showed that the method can avoid the standing and moving obstacles effectively, and even be applied for the navigation combined with other path planning methods conveniently.

关键词： panoramic camera Isotropic property dynamic avoidance

作者: Zhou Jun Liu Hong-kui Li Kui Li Jing

作者单位: College of Mechanical & Electrical Engineerin, Hohai University, Changzhou, Jiangsu Province, China College of Mechanical & Electrical Engineerin, Hohai University,Changzhou, Jiangsu Province, China

会议类型: 国际会议

会议名称: 2008 Sino-European Workshop on Intelligent Robots and Systems(SEIROS08)(第一届中欧智能系统及机器人国际学术研讨会)

会议地点: 重庆

会议语种:英文

页码: 1-3

在线出版日期: 2008-12-11（万方平台首次上网日期，不代表论文的发表时间）