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Light-stream-based obstacle avoiding method of mobile robot

A mobile robot and robot technology, applied in the direction of instruments, non-electric variable control, measuring devices, etc., can solve problems such as unsatisfactory obstacle avoidance

Inactive Publication Date: 2014-04-23
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method can only be adapted to a simple corridor-like environment, in which the robot can walk along the centerline of the corridor, and cannot meet the obstacle avoidance requirements in complex environments.

Method used

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  • Light-stream-based obstacle avoiding method of mobile robot
  • Light-stream-based obstacle avoiding method of mobile robot
  • Light-stream-based obstacle avoiding method of mobile robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0041] This embodiment is based on the aforementioned technical solution, and utilizes the matlab virtual reality toolbox to build a virtual 3D environment full of obstacles, such as figure 2 , image 3 , Figure 4 , Figure 5 shown, according to figure 1 The flow chart shown is implemented, and the specific implementation plan is:

[0042] The S1 robot starts up and initializes.

[0043] S2 gives the robot a speed V (0m / s-0.15m / s) (the speed cannot be set too high, otherwise it violates the assumption of small motion in optical flow calculation), let the robot move forward at a constant speed of V, and obtain two frames before and after image. In this embodiment, the robot speed V=0.05m / s.

[0044] S3 calculates the optical flow of the two frames of images and the sum of the optical flow amplitudes of all pixels in the entire image. In this embodiment, the HS algorithm is used to calculate the optical flow, and the gradient operators used to calculate the partial deri...

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Abstract

The invention relates to a light-stream-based obstacle avoiding method of a mobile robot based, belonging to the technical field of navigation and obstacle avoiding application of robots. The method is characterized by comprising the following steps: obtaining an image sequence through an obstacle-avoiding camera on the robot, and calculating the light streams of front and back frames of an image; when the amplitudes of the light streams exceed a threshold value, calculating TTC (Time To Contact) according to the light streams; establishing a 1*N OM (Obstacle Map) according to TTC; then, setting a threshold Tau, extracting a continuous column of the OM with the element value being less than Tau as a candidate safe region; calculating the weight of each region, taking the region with the great weight as the optimal region, and calculating the local centroid as the optimal forward direction; and finally, controlling the robot to turn to the optimal forward direction so as to avoid obstacles. According to the method provided by the invention, the robot can analyze distribution of obstacles in an unknown and complex environment with lots of barriers and can move towards the safest direction, so that the method can be used for real-time obstacle-avoidance of robots.

Description

technical field [0001] The invention relates to a monocular vision-based optical flow obstacle avoidance method for a mobile robot, and belongs to the technical field of robot navigation obstacle avoidance applications. Background technique [0002] Mobile robots are machines with perception, thinking and action functions, which have played an important role in various fields, such as cleaning robots and military detection robots. In order to realize the autonomous operation of the robot, the robot must be able to avoid obstacles. At present, there are a variety of sensors that can be used for robot obstacle avoidance. For example, ultrasonic rangefinders, laser radar and infrared sensors can be used to obtain distance information of obstacles, and then realize obstacle avoidance. It is also possible to use one or more cameras installed on the robot to obtain images of the scene, and use rich visual information to complete obstacle avoidance. The study found that vision is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00
CPCG05D1/0246
Inventor 于乃功徐丽阮晓钢陈焕朝王琳
Owner BEIJING UNIV OF TECH
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