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Obstacle detection is very crucial for mobile robots. The algorithm presented in this paper makes use of motion cues in the video streams. Firstly, we calculate optical flow at feature points. Then rotation of the camera and FOE (focal of expansion) are evaluated separately. Rotation and FOE value are refined according to an iterative linear method. Finally, we get inverse TTC (time to contact) with...
A new path planning method for mobile robots in globally unknown environment with moving obstacles is presented. With an autoregressive (AR) model to predict the future positions of moving obstacles, and the predicted position treated as instantaneously static, a motion path of the mobile robot is planned by means of a real-time path planning technique based on polar coordinates space in which the...
A new on-line real-time approach with obstacle avoidance for mobile robots moving in an uncertain environment has been proposed and implemented. With the integration of global planning and local planning, this path planning approach is based on polar coordinates in which the desirable direction angle is taken into consideration as an optimization index. Detecting unknown obstacles with local feedback...
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