一种机器人避障控制策略

Control Strategy for Robot to Avoid Obstacles

本文介绍了一种基于焦距恢复深度信息概念的实时障碍检测方法 ,由两台CCD摄像机组成的立体被动视觉系统只需可靠、快速、恢复粗糙的三维信息 ,控制策略由这些粗糙的三维信息判断障碍物状态 ,做出相应的调整。

In this paper we proposed a method to detect obstacle timely based on the concept of focus.The vision system composed by double CCD cameras only recovers the coarse three dimensions information of the sense rather than details.Control strategy gains the status of obstacle from these coarse information and gives out orders.The method was been confirmed robust and fast by emulation.