NDLI: Collision obstacle in dynamic environment based heuristic using sonar and optical flow sensors

Content Provider	IEEE Xplore Digital Library
Author	Sheng Fu Yu-Xian Gai Ting Yao Hui-Ying Liu Lu-Fang Gao
Copyright Year	2008
Description	Author affiliation: Sch. of Automobile Eng., Harbin Inst. of Technol., Weihai (Sheng Fu; Yu-Xian Gai; Ting Yao; Hui-Ying Liu; Lu-Fang Gao)
Abstract	A method of real-time collision obstacle for autonomous mobile robots in local dynamic environment using multi-sensor data fusion is proposed. Due to the effectiveness of the optical flow sensors, the robot can acquire more accurate self-motion information. This paper also proposes an approach to complete enhancement based on the earlier vector field histogram algorithm (VFH), which is called VFH#. This paper improved a new heuristic function to the VFH# algorithm in particular. By using this way, robots can select a more appropriate steeling angle in local dynamic environments. The results of experiments with a Pioneer robot demonstrated that robot collision obstacle can be obtained using the proposed method.
Starting Page	3021
Ending Page	3026
File Size	173761
Page Count	6
File Format	PDF
ISBN	9781424421138
DOI	10.1109/WCICA.2008.4593404
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-06-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Sensors Optical sensors Robot sensing systems Robot kinematics Image motion analysis Computer vision optical flow sensors collision obstacle heuristic search dynamic environments
Content Type	Text
Resource Type	Article

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