A Fast Obstacle Detection Algorithm for Mobile Robots and Its Application
ZHAO Xiaochuan1,2, LIU Peizhi1,2, ZHANG Min1, YANG Lihui3, SHI Jianchang1
1. North Institute of Computer Application, Beijing 100089, China; 2. Beijing Institute of Technology, Beijing 100081, China; 3. The Second Institute of Engineer Corps.GED, PLA, Beijing 100093, China
赵小川, 刘培志, 张敏, 杨立辉, 施建昌. 一种适用于移动机器人的障碍物快速检测算法及其实现[J]. 机器人, 2011, 33(2): 198-201,214..
ZHAO Xiaochuan, LIU Peizhi, ZHANG Min, YANG Lihui, SHI Jianchang. A Fast Obstacle Detection Algorithm for Mobile Robots and Its Application. ROBOT, 2011, 33(2): 198-201,214..
Abstract:In order to overcome the shortcomings of traditional obstacle detection algorithms,a fast obstacle detection algorithm for mobile robots based on the vision sensor and ultrasonic sensor information fusion is proposed.The distance between the robot and the obstacle(the obstacle employed in this algorithm is rectangular) is obtained by the ultrasonic sensor located on the head of the robot.An improved fast line detection method and restriction terms are proposed to extract the straight line edge of the obstacle in the image(obtained by the vision sensor).According to the mechanism of the triangle similarity in process of imaging,the real height and width of the obstacle is calculated by fusing the distance and the height and width of the obstacle in the image,which supports the local path planning decision.The validity and practicability of the obstacle detection algorithm is tested by the experiments conducted on the hexapod robot.
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