Obstacle avoiding strategy of mobile robot via binocular stereovision

摘要

In order to achieve the expected goal accurately, detecting of road region and obstacle, self-organization and planning autonomously and dynamical avoidance are key technologies during the course. For improvement of dynamic obstacle avoidance of autonomous mobile robots, a kind of real-time avoiding-obstacle algorithm via binocular stereovision is addressed, it takes advantage of visual principle of men to acquire the information of road region and obstacle and plan the route autonomously. Emphasis is putting on algorithms, modeling as well as parameters identification of mathematical model. Experimental results demonstrate that this algorithm has advantages in data processed, real-time, easily realization and reliably avoiding obstacle.