3-D Vision Based Local Obstacle Avoidance Method for Humanoid Robot | |
Lee Doyoung; Lu Yanfeng; Kang Taekoo; Choi Inhwan; Lim Myotaeg | |
2012 | |
会议名称 | International Conference on Controls Automation and Systems 2012 |
会议日期 | 2012.10.17-10.21 |
会议地点 | JeJu Island, South Korea |
摘要 | Abstract:
In this paper, a 3D vision-based local obstacle avoidance system is designed and developed on a humanoid robot so that it can decide avoidance direction and walking motion effectively. We use a panorama environment map using speeded up robust feature (SURF) which is a robust image detector and descriptor to handle the obstacles which exist beyond the field of view. Moreover, we propose an avoidance direction decision method and a fuzzy logic based avoidance motion selection method. The robot decides the avoidance direction and avoidance walking motion for the obstacle by itself under information such as the size of objects and avoidance spaces. The proposed system is applied to the humanoid robot which we have built up with a Time of Flight camera. The results of the experiments show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion. |
关键词 | Humanoid Robot Obstacle Avoidance Geographical Measurement Avoidance Motion Selection |
收录类别 | EI |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/15335 |
专题 | 复杂系统管理与控制国家重点实验室_机器人理论与应用 |
推荐引用方式 GB/T 7714 | Lee Doyoung,Lu Yanfeng,Kang Taekoo,et al. 3-D Vision Based Local Obstacle Avoidance Method for Humanoid Robot[C],2012. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Lee, Lu, Kang - 2012(171KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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