Research on path planning technology of mobile robot based on visual obstacle avoidance

Zai Luo; Yiwen Chen; Wensong Jiang; Xiaofeng Hu; Li Yang; Jian Bao

doi:10.1117/12.2611038

19 November 2021 Research on path planning technology of mobile robot based on visual obstacle avoidance

Zai Luo, Yiwen Chen, Wensong Jiang, Xiaofeng Hu, Li Yang, Jian Bao

Proceedings Volume 12059, Tenth International Symposium on Precision Mechanical Measurements; 1205905 (2021) https://doi.org/10.1117/12.2611038
Event: Tenth International Symposium on Precision Mechanical Measurements, 2021, Qingdao, China

Abstract

Aiming at the problems of unsmooth and low efficiency in path planning of the indoor mobile robot, a path planning obstacle avoidance system is proposed. First, the global path is generated in the environment grid map by A* algorithm. Second, as the pose constraint, the Reeds-Shepp path set can generate the executable control instructions by extracting the key points of the path. Third, the static/dynamic obstacle is recognized by a binocular camera and avoided by a decision-making method. The experimental result shows that the generated path can meet the actual motion constraints of the mobile robot, the relative error of the obstacle depth distance is 0.03%, which meets the requirements of the robot path planning.

Citation Download Citation

Zai Luo, Yiwen Chen, Wensong Jiang, Xiaofeng Hu, Li Yang, and Jian Bao "Research on path planning technology of mobile robot based on visual obstacle avoidance", Proc. SPIE 12059, Tenth International Symposium on Precision Mechanical Measurements, 1205905 (19 November 2021); https://doi.org/10.1117/12.2611038

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