Autonomous Mobile Robot Obstacle Avoidance System Based on Optical Flow
Xiao Xu · Jisuanji gongcheng · 2013
Since real-time obstacle avoidance is a key part of mobile robot autonomous navigation, an autonomous mobile robot obstacle avoidance system based on optical flow is proposed. This system's input is the image sequence grabbed by the camera on the robot in motion. The optical flow information is extracted by Pyramid Lucas-Kanade method to calculate focus of expansion and time to contact.The possible position of the obstacle is estimated with improved balance strategy. Experimental results show that this system can detect and avoid obstacles with the width larger than 10 centimeters but not cover the camera view correctly, which validates the method's feasibility.