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Application of optical flow to sonar image for mobile robot navigation

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3 Author(s)
Gun-Young Park ; School of Mechanical Engineering, Kyungpook National University, 1370 Sangyeok-dong Buk-gu, Daegu, 702-701, Korea ; Sang-Ryong Lee ; Choon-Young Lee

In this paper, a novel data processing algorithm for ultrasonic sensors is proposed using optical flow technique to get relative velocity of obstacles. Ultrasonic sensors are widely applied to robotic system, however, limitations exist for positioning objectpsilas location by angular uncertainty. Collision avoidance in dynamic environment requires the information of relative motion, such as velocity for obstacles in addition to distance. To assist operatorpsilas control skills, a force is generated for collision avoidance using ultrasonic sensorspsila data. Previous research on the generation algorithm of force reflection used relative distance between robot and obstacles. We applied optical flow technique to artificial image sequence which is generated from ultrasonic sensorpsilas range data to obtain relative velocity. The experimental results show the effectiveness of the proposed algorithm for robot navigation in dynamic environment.

Published in:

2008 6th IEEE International Conference on Industrial Informatics

Date of Conference:

13-16 July 2008