Earticle

초록

영어

In view of the problem of AS-R autonomous wheeled mobile robot obstacle avoidance, a rapid convergence of sonar and binocular stereovision sensor distance information in order to detect and avoid obstacle algorithm is proposed in this paper. The algorithm first uses binocular camera (CCD) to get three-dimensional image of the real environment, through the stereo matching and V-disparity method which is used to calculate disparity map, then obstacles is extracted by Hough lines detection algorithm, finally we will get information about obstacles and sonar return information with T-S fuzzy neural network fusion, then it will output walking controlled decisions. Experimental results proved that the algorithm is effective and practical.

목차

Abstract
 1. Introduction
 2. Sonar and Binocular Vision Information Fusion
 3. Obstacle Detection Algorithm Based on V-disparity Method
  3.1. Polor Correction
  3.2. V-disparity Map Construction
  3.3. Improved Linear Fitting Based on Hough Detection Method
 4. The Experimental Results and Analysis
 5. Conclusions
 Acknowledgements
 References

키워드

저자

• Hongwei Gao [ College of Automation and Electrical Engineering Shenyang Ligong University Shenyang, Liaoning, 110159, P.R. China, State Key Laboratory of Robotics Shenyang Institute of Automation, Chinese Academy of Sciences Shenyang, Liaoning, 110016, P.R. China ]
• Qiuyang Wei [ College of Automation and Electrical Engineering Shenyang Ligong University Shenyang, Liaoning, 110159, P.R. China ]
• Yang Yu [ College of Automation and Electrical Engineering Shenyang Ligong University Shenyang, Liaoning, 110159, P.R. China ]
• Jinguo Liu [ State Key Laboratory of Robotics Shenyang Institute of Automation, Chinese Academy of Sciences Shenyang, Liaoning, 110016, P.R. China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Future Generation Communication and Networking

• 간기

  격월간

• pISSN

  2233-7857

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605