Research on obstacle avoidance for mobile robot based on binocular stereo vision and infrared ranging

Author

Duan, Suolin ; Li, Yunfeng ; Chen, Shuyue ; Chen, Lanping ; Min, Jijiang ; Zou, Ling ; Ma, Zhenghua ; Ding, Ji

Author_Institution

Robot. Inst., Changzhou Univ., Changzhou, China

fYear

2011

fDate

21-25 June 2011

Firstpage

1024

Lastpage

1028

Abstract

In this paper, a mobile robot obstacle avoidance system based on information fusion of infrared sensor and binocular vision sensors is proposed. The complete distance information between the robot and obstacles, which is obtained from the infrared sensors and the binocular sensor can real-time help the robot perceiving its location relative to all kinds of obstacles under the unknown environment. Furthermore, a reasonable obstacles-avoiding strategy based on the location information is used to govern the DC servo motors of the left and right driving wheels and realize real-time avoiding obstacles. At last, it is demonstrated by the experiments that the proposed method is effective.

Keywords

DC motors; collision avoidance; image sensors; infrared detectors; mobile robots; robot vision; servomotors; stereo image processing; DC servo motors; binocular stereo vision; binocular vision sensors; information fusion; infrared ranging; infrared sensor; location information; mobile robot obstacle avoidance system; real-time avoiding obstacles; Collision avoidance; Distance measurement; Infrared sensors; Mobile robots; Robot sensing systems; Stereo vision; avoidance obstacles; binocular stereo vision; infrared ranging; mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2011 9th World Congress on

Conference_Location

Taipei

Print_ISBN

978-1-61284-698-9

Type

conf

DOI

10.1109/WCICA.2011.5970671

Filename

5970671