A Flexible Framework for Vision based Obstacle Avoidance Problem
نویسنده
چکیده
This paper addresses a new architecture that employs optical flow for vision based obstacle avoidance problem for mobile robot navigation. The proposed architecture utilizes monocular vision for navigation and obstacle avoidance. Real experiments to guide a Pioneer 3-DX mobile robot in indoor environments are presented, and the analysis of the results allow us to validate the proposed behavior based navigation strategy.
منابع مشابه
Avoiding obstacles using a connectionist network
In this article, visual data obtained by a binocular active vision system is integrated, together with ultrasonic range measurements; in the development of a obstacle detection and avoidance system based on a connectionist grid. The traditional notion of probabilistic occupation grid is extended through the use of a three-layer structure of connectionist networks which allows the integration of...
متن کاملNeuCube for obstacle avoidance in simulated prosthetic vision
Limited by visual percepts elicited by existing visual prothesis, it’s necessary to enhance its functionality to fulfill some challenging tasks for the blind such as obstacle avoidance. This paper provides a new methodology for obstacle avoidance in simulated prosthetic vision by modelling and classifying spatiotemporal (ST) video data. The proposed methodology is based on a novel spiking neura...
متن کاملDesigning Path for Robot Arm Extensions Series with the Aim of Avoiding Obstruction with Recurring Neural Network
In this paper, recurrent neural network is used for path planning in the joint space of the robot with obstacle in the workspace of the robot. To design the neural network, first a performance index has been defined as sum of square of error tracking of final executor. Then, obstacle avoidance scheme is presented based on its space coordinate and its minimum distance between the obstacle and ea...
متن کاملVision-based obstacle avoidance for a small, low-cost robot
This paper presents a vision-based obstacle avoidance algorithm for a small indoor mobile robot built from low-cost, and off-the-shelf electronics. The obstacle avoidance problem in robotics has been researched extensively and there are many well established algorithms for this problem. However, most of these algorithms are developed for large robots with expensive, specialised sensors, and pow...
متن کاملOptimal Trajectory Planning of a Mobile Robot with Spatial Manipulator For Spatial Obstacle Avoidance
Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the e...
متن کامل