基于主动式全景视觉的移动机器人障碍物检测

针对现有的移动机器人视觉系统计算资源消耗大、实时性能欠佳、检测范围受限等问题,提出一种基于主动式全景视觉传感器(AODVS)的移动机器人障碍物检测方法。首先,将单视点的全方位视觉传感器(ODVS)和由配置在1个平面上的4个红色线激光组合而成的面激光发生器进行集成,通过主动全景视觉对移动机器人周边障碍物进行检测;其次,移动机器人中的全景智能感知模块根据面激光发生器投射到周边障碍物上的激光信息,通过视觉处理方法解析出移动机器人周边障碍物的距离和方位等信息;最后,基于上述信息采用一种全方位避障策略,实现移动机器人的快速避障。实验结果表明,基于AODVS的障碍物检测方法能在实现快速高效避障的同时,降低对移动机器人的计算资源的要求。

Obstacle Detection Method for Mobile Robot Using Active Omnidirectional Vision Sensor

To solve the problems of excessive consumption of computing resource,poor real-time performance and limited detection range of current mobile robot vision system,a fast and efficient obstacle detection method was proposed in this paper based on active omnidirectional vision sensor (AODVS).AODVS integrates ODVS with single view point and a planar laser generator composed by four red liner laser that installed on the same plane.All obstacles around the mobile robot can be detected in real time by AODVS.According to laser information on the surrounding obstacles projected by planar laser generator,the obstacles distance and direction information are obtained with robot vision method.Then,based on this information,the direction of movement and speed of the mobile robot are controlled adopting omnidirectional mobile robot obstacle avoidance algorithm.The experiment results show that the obstacle detection method based on AODVS can achieve the goals of avoiding the obstacles quickly and accurately and reducing the requirement of computing resource for the mobile robot.