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Mobile robot obstacle avoidance algorithms based on information fusion of vision and sonar
Gao HW(高宏伟); Wei, Qiuyang; Yu Y(于洋); Liu JG(刘金国)
作者部门空间自动化技术研究室
关键词Binocular Stereo Vision Stereo Matching V-disparity Obstacle Detection T-s Fuzzy Neural Network
发表期刊International Journal of Future Generation Communication and Networking
ISSN2233-7857
2016
卷号9期号:8页码:111-120
收录类别EI
EI收录号20163602780523
产权排序1
资助机构China Postdoctoral Science Foundation Funded Project (Grant No.2013M530954), the State Key Laboratory of Robotics Foundation (Grant No. 2012017), Program for Liaoning Excellent Talents in University (Grant No.LJQ2014021), the Natural Science Foundation of Liaoning Province (Grant No.2014020093), and Shenyang Ligong University Computer Application Key Discipline Foundation (Grant No.4771004kfx09).
摘要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.
语种英语
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/19189
专题空间自动化技术研究室
通讯作者Gao HW(高宏伟)
作者单位1.College of Automation and Electrical Engineering, Shenyang Ligong University, Shenyang, Liaoning, 110159, China
2.State Key Laboratory of Robotics Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
推荐引用方式
GB/T 7714
Gao HW,Wei, Qiuyang,Yu Y,et al. Mobile robot obstacle avoidance algorithms based on information fusion of vision and sonar[J]. International Journal of Future Generation Communication and Networking,2016,9(8):111-120.
APA Gao HW,Wei, Qiuyang,Yu Y,&Liu JG.(2016).Mobile robot obstacle avoidance algorithms based on information fusion of vision and sonar.International Journal of Future Generation Communication and Networking,9(8),111-120.
MLA Gao HW,et al."Mobile robot obstacle avoidance algorithms based on information fusion of vision and sonar".International Journal of Future Generation Communication and Networking 9.8(2016):111-120.
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