3-D Vision Based Local Obstacle Avoidance Method for Humanoid Robot
Lee Doyoung; Lu Yanfeng; Kang Taekoo; Choi Inhwan; Lim Myotaeg
2012
Conference NameInternational Conference on Controls Automation and Systems 2012
Conference Date2012.10.17-10.21
Conference PlaceJeJu Island, South Korea
AbstractAbstract:
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.
KeywordHumanoid Robot Obstacle Avoidance Geographical Measurement Avoidance Motion Selection
Indexed ByEI
Language英语
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/15335
Collection复杂系统管理与控制国家重点实验室_机器人理论与应用
Recommended Citation
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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