文章基本信息

标题：Obstacle detection for autonomous systems using stereoscopic images and bacterial behaviour
本地全文：下载
作者：Fredy Martinez ; Edwar Jacinto ; Fernando Martinez 等
期刊名称：International Journal of Electrical and Computer Engineering
电子版ISSN：2088-8708
出版年度：2020
卷号：10
期号：2
页码：2164-2172
DOI：10.11591/ijece.v10i2.pp2164-2172
出版社：Institute of Advanced Engineering and Science (IAES)
摘要：This paper presents a low cost strategy for real-time estimation of the position of obstacles in an unknown environment for autonomous robots. The strategy was intended for use in autonomous service robots, which navigate in unknown and dynamic indoor environments. In addition to human interaction, these environments are characterized by a design created for the human being, which is why our developments seek morphological and functional similarity equivalent to the human model. We use a pair of cameras on our robot to achieve a stereoscopic vision of the environment, and we analyze this information to determine the distance to obstacles using an algorithm that mimics bacterial behavior. The algorithm was evaluated on our robotic platform demonstrating high performance in the location of obstacles and real-time operation.
关键词：autonomous robot;bacterial behaviour;motion planning;obstacle detection;stereoscopic images;