논문 상세보기

동적 물체의 비전 검출을 통한 이동로봇의 장애물 회피 KCI 등재

Mobile Robot Obstacle Avoidance using Visual Detection of a Moving Object

  • 언어KOR
  • URLhttps://db.koreascholar.com/Article/Detail/1018
서비스가 종료되어 열람이 제한될 수 있습니다.
로봇학회논문지 (The Journal of Korea Robotics Society)
한국로봇학회 (Korea Robotics Society)
초록

Collision avoidance is a fundamental and important task of an autonomous mobile robot for safe navigation in real environments with high uncertainty. Obstacles are classified into static and dynamic obstacles. It is difficult to avoid dynamic obstacles because the positions of dynamic obstacles are likely to change at any time. This paper proposes a scheme for vision-based avoidance of dynamic obstacles. This approach extracts object candidates that can be considered moving objects based on the labeling algorithm using depth information. Then it detects moving objects among object candidates using motion vectors. In case the motion vectors are not extracted, it can still detect the moving objects stably through their color information. A robot avoids the dynamic obstacle using the dynamic window approach (DWA) with the object path estimated from the information of the detected obstacles. The DWA is a well known technique for reactive collision avoidance. This paper also proposes an algorithm which autonomously registers the obstacle color. Therefore, a robot can navigate more safely and efficiently with the proposed scheme.

저자
  • 김인권 | In-Kwen Kim
  • 송재복 | Jae-Bok Song