Vision-based On-line Obstacle Avoiding and Navigation of Mobile Robot
Zhi Xi · Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University · 2002
The method of local path planning and navigation of mobile robot based on single visual information is introduced in the paper. Firstly, the general concept of the hierarchical planning system is described. Then a method to observe the environment by single vision and a method to make an avoiding point are explained. Finally, a local path planning algorithm based on visual information is proposed .This method makes effeccive use of the vision information, reduces the scale of calculation and improves the celerity. The validity and feasibility of the method was confirmed by the simulation results and experiments.