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.
 James G B,Kanna R.Robotics in remote and hostile environments[J].Science,2007,318(5853):1098-1102.
 Rolf P,Max L,Fumiya L.Self-organization,embodiment and biologically inspired robotics[J].Science,2007,318(5853):1088-1093.
 Danna V.Nature's guide to robot design[J].IEEE Intelligent Systems,2002,17(6):4-6.
 Elizabeth P Evolution:Robot suggests how the first land animals got walking[J].Science,2007,315(5817):1352-1353.
 Guilherme N,De S,Avinash C.Vision for mobile robot navigation:A survey[J].IEEE Transactions on PaRem Analysis and Machine Intelligence,2002,24(2):237-267.
 Juan P,Jorge G.Development of intelligent multisensor surveillance systems with agents[J].Robotics and Autonomous Systems,2007,55(12):892-903.
 Misel B.Robust and accurate global vision system for realtime tracking of multiple mobile robots[J].Robotics and Autonomous Systems,2008,56(3):213-230.
 Low E,Manchest I,Savkin A.A biologically inspired method for vision-based docking of wheeled mobile robots[J].Robotics and Autonomous Systems.2007,55(10):759-784.
 Petrovic V,Cootes T.Objectively adaptive image fusion[J].Information Fusion,2007,8(2):168-176.
 王华章,何小海,宰文姣.基f局部和全局特征融合的图像检索[J].光学精密工程,2008,16(6):1098-1104.Wang H Z.He X H.Zai W J.Image retrieval based on combining local and global features[J].Optics and Precision Engineering,2008,16(6):1098-1104.
 Dumar M,Garg D,Zachery P.A method forjudicious fusion of inconsistent multiple sensor data[J].IEEE Sensor Journal,2007,7(5):723-733.
 Chen X D,Watanabe K,Kiguchi K.An ART-based fuzzy controller for the adaptive navigation of a quadruped robot[J].IEEE/ASME Transactions on Mechatronics,2002,8(3):318-328.
 陈洪波,王强,徐晓蓉,等.用改进的Hough变换检测交通标志图像的直线特征[J].光学精密工程,2009,17(5):1111-1118.Chen H B,Wang Q,Xu X R,et al.Line detection in traffic sign image based on improved Hough transform[J].Optics and Piecision Engineering,2009,17(5):1111-1118.
 张建伟,张启衡.基f块遍历的直线边缘特征提取[J].光学精密工程,2009,17(3):662-668.Zhang J W,Zhang Q H.Line-edge feature extraction based on ergodic block[J].Optics and Precision Engineering,2009,17(3):662-668.
 牛长峰,陈登峰,刘玉树.基于SIFT特征和粒子滤波的目标跟踪方法[J].机器人,2010,32(2):241-245.Niu C E Chen D F,Liu Y S.Tracking object based on SIFT features and particle filter[J].Robot,2010,32(2):241-245.