The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Development of Vision based Autonomous Obstacle Avoidance System for a Humanoid Robot

휴머노이드 로봇을 위한 비전기반 장애물 회피 시스템 개발

  • 강태구 (고려대학교 전자전기공학과) ;
  • 김동원 (인하공업전문대학 디지털 전자과) ;
  • 박귀태 (고려대학교 전기공학과)
  • Received : 2010.07.16
  • Accepted : 2010.12.07
  • Published : 2011.01.01
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Abstract

This paper addresses the vision based autonomous walking control system. To handle the obstacles which exist beyond the field of view(FOV), we used the 3d panoramic depth image. Moreover, to decide the avoidance direction and walking motion of a humanoid robot for the obstacle avoidance by itself, we proposed the vision based path planning using 3d panoramic depth image. In the vision based path planning, the path and walking motion are decided under environment condition such as the size of obstacle and available avoidance space. The vision based path planning is applied to a humanoid robot, URIA. The results from these evaluations show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion of a practical humanoid robot.

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References

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