Journal of Korean Institute of Industrial Engineers (대한산업공학회지)

Korean Institute of Industrial Engineers (대한산업공학회)
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Obstacle Avoidance for a Mobile Robot Using Optical Flow

광류 정보를 이용한 이동 로봇의 장애물 회피 항법

  • Lee, Han-Sik (OpenVisual, Inc.) ;
  • Baek, Jun-Geol (Department of Industrial Systems Engineering, Induk Institute of Technology) ;
  • Jang, Dong-Sik (Department of Industrial Systems and Information Engineering, Korea University)
  • 이한식 ((주)오픈비주얼) ;
  • 백준걸 (인덕대학 산업시스템경영과) ;
  • 장동식 (고려대학교 산업시스템정보공학과)
  • Published : 2002.03.31
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Abstract

This paper presents a heuristic algorithm that a mobile robot avoids obstacles using optical flow. Using optical flow, the mobile robot can easily avoid static obstacles without a prior position information as well as moving obstacles with unknown trajectories. The mobile robot in this paper is able to recognize the locations or routes of obstacles, which can be detected by obtaining 2-dimensional optical flow information from a CCD camera. It predicts the possibilities of crash with obstacles based on the comparison between planned routes and the obstacle routes. Then it modifies its driving route if necessary. Driving acceleration and angular velocity of mobile robot are applied as controlling variables of avoidance. The corresponding simulation test is performed to verify the effectiveness of these factors. The results of simulation show that the mobile robot can reach the goal with avoiding obstacles which have variable routes and speed.

Keywords

References

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