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http://dx.doi.org/10.5370/KIEE.2011.60.1.161

Development of Vision based Autonomous Obstacle Avoidance System for a Humanoid Robot  

Kang, Tae-Koo (고려대학교 전자전기공학과)
Kim, Dong-Won (인하공업전문대학 디지털 전자과)
Park, Gwi-Tae (고려대학교 전기공학과)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.60, no.1, 2011 , pp. 161-166 More about this Journal
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.
Keywords
Obstacle avoidance; Humanoid robot; Vision system;
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