Mobile robot obstacle avoidance algorithms based on information fusion of vision and sonar
文献类型：期刊论文
| 作者 | Gao HW(高宏伟) ; Wei, Qiuyang; Yu Y(于洋); Liu JG(刘金国)
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| 刊名 | International Journal of Future Generation Communication and Networking
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| 出版日期 | 2016 |
| 卷号 | 9期号:8页码:111-120 |
| 关键词 | Binocular stereo vision stereo matching V-disparity obstacle detection T-S fuzzy neural network |
| ISSN号 | 2233-7857 |
| 产权排序 | 1 |
| 通讯作者 | 高宏伟 |
| 中文摘要 | In view of the problem of AS-R autonomous wheeled mobile robot obstacle avoidance, a rapid convergence of sonar and binocular stereovision sensor distance information in order to detect and avoid obstacle algorithm is proposed in this paper. The algorithm first uses binocular camera (CCD) to get three-dimensional image of the real environment, through the stereo matching and V-disparity method which is used to calculate disparity map, then obstacles is extracted by Hough lines detection algorithm, finally we will get information about obstacles and sonar return information with T-S fuzzy neural network fusion, then it will output walking controlled decisions. Experimental results proved that the algorithm is effective and practical. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/19189]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 推荐引用方式 GB/T 7714 | Gao HW,Wei, Qiuyang,Yu Y,et al. Mobile robot obstacle avoidance algorithms based on information fusion of vision and sonar[J]. International Journal of Future Generation Communication and Networking,2016,9(8):111-120. |
| APA | Gao HW,Wei, Qiuyang,Yu Y,&Liu JG.(2016).Mobile robot obstacle avoidance algorithms based on information fusion of vision and sonar.International Journal of Future Generation Communication and Networking,9(8),111-120. |
| MLA | Gao HW,et al."Mobile robot obstacle avoidance algorithms based on information fusion of vision and sonar".International Journal of Future Generation Communication and Networking 9.8(2016):111-120. |
入库方式： OAI收割
来源：沈阳自动化研究所
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