Obstacle Avoidance Control for Mobile Robots based on Vision
Shunsuke Nara, Satoru Takahashi · 2006 SICE-ICASE International Joint Conference · 2006
This paper treats the navigation problem of mobile robots to avoid obstacles according to vision information. In our method, first we detect obstacles which exist in front of a mobile robot by calculating the optical flow. Then, based on the area of detection we decide the optimal trajectory for a robot. Here, we may use the sensor data for supporting a vision system. In order to find the optimal trajectory, we compute the distance between a mobile robot and obstacle evaluating a function. Through experiments, we show how our proposed method can avoid obstacles.