Paper Info
Title
Decision making for obstacle avoidance in autonomous mobile robots by time to contact and optical flow
Abstract
Vision is a vital cue for human navigation, and it has become in a powerful tool for robot navigation. Computer vision is useful for recognition of positional relationship and relative motion between themselves and objects in the environment. So, we address the problem of navigation for mobile robot in indoor environment. To this task, we tackle the problem using monocular vision, i.e., without other kind of sensors. Insects and some animals use tools as optical flow estimations and time to contact, to their navigation [1]. So, in this paper, we propose a method for obstacle avoidance, without constantly calculating the optical flow field, only it is calculated when the robot is close to colliding with an obstacle, and so, it uses the flow field divergence to decide which direction will should be taken. Physical experiments using a real robot have been conducted in unknown environments.
Year
DOI
Venue
2015
10.1109/CONIELECOMP.2015.7086939
CONIELECOMP
Keywords
Field
DocType
mobile robots,optical flow,obstacle avoidance
Obstacle avoidance,Monocular vision,Obstacle,Robot control,Computer vision,Computer science,Artificial intelligence,Mobile robot navigation,Robot,Optical flow,Mobile robot
Conference
ISSN
Citations 
PageRank 
2474-9036
1
0.35
References 
Authors
9
4
Name
Order
Citations
PageRank
Angel Juan Sanchez-Garcia110.69
Homero Vladimir Ríos-Figueroa2157.34
Antonio Marín-hernández3158.47
Gerardo Contreras Vega411.70