Optical Flow Based Robot Obstacle Avoidance

International Journal of Advanced Robotic Systems

关键词: Optical flow;    Balance strategy;    Focus of Expansion;    Time to Contact;    obstacle avoidance;   

DOI  :  10.5772/5715

学科分类：自动化工程

来源: InTech

【 摘 要 】

In this paper we try to develop an algorithm for visual obstacle avoidance of autonomous mobile robot. The input of the algorithm is an image sequence grabbed by an embedded camera on the B21r robot in motion. Then, the optical flow information is extracted from the image sequence in order to be used in the navigation algorithm. The optical flow provides very important information about the robot environment, like: the obstacles disposition, the robot heading, the time to collision and the depth. The strategy consists in balancing the amount of left and right side flow to avoid obstacles, this technique allows robot navigation without any collision with obstacles. The robustness of the algorithm will be showed by some examples.

【 授权许可】

CC BY