Vision-based avoidance of obstacles with unknown constant velocity
Lili Ma · 2010
This paper discusses vision-based avoidance of obstacles with unknown sizes and unknown constant velocities for four-wheel nonholonomic robots. The robot is equipped with an inertial measurement unit that provides measurements of the robot's position and velocity, and a monocular camera that detects the obstacles. An analytical scheme is adopted for trajectory generation and vehicle control. Vision sensor is used to obtain the estimates of the obstacles' unknown sizes and unknown velocities that are used by the trajectory generation scheme. The effectiveness of the proposed technique is demonstrated by numerical simulation examples.