文章基本信息

标题：A New Obstacle Avoidance Method based on Biped Robot
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作者：Jiang, Zetao ; Cui, Yanru ; Wang, Qiang 等
期刊名称：Journal of Computers
印刷版ISSN：1796-203X
出版年度：2012
卷号：7
期号：10
页码：2362-2367
DOI：10.4304/jcp.7.10.2362-2367
语种：English
出版社：Academy Publisher
摘要：Currently, in order to avoid obstacle, most robots will choose a new path. This paper proposed a new obstacle avoidance method for biped robots. When lower obstacle exists in the road, we will calculate the obstacle’s three-dimensional information instead of using the traditional method of re-select the path, so that the biped robot will avoid obstacles successfully by crossing the obstacle. In 3-d reconstruction, the stereo matching is complex, and has large time consumption. Therefore, the method in this paper has a combination of color segmentation and height detection, extracts obstacle’s region accurately to reduce detection range of matching, then improves the real-time of reconstruction. Experiments show that the method proposed in this paper is feasible.
关键词：biped robot;color segmentation;height detection;stereo matching;obstacle reconstruction