Robotic Obstacle Avoidance for Visual Navigation Based on Local Descriptors and Feasible Path

Aiming at the obstacles in robot visual navigation path, a robot obstacle avoidance method based on local descriptors and feasible path is proposed to achieve local path planning. The local grid of the robot is divided and the obstacle model is established. The risk function and feasible path of the robot is defined. For visual navigation, the navigation direction angle is obtained based on the horizontal coordinate of local descriptors matching pair. While for obstacles in robot navigation path, the local obstacle avoidance control strategy is presented to find a feasible path around the obstacles. The method can choose an optimal path for obstacle avoidance and then return to the planned path through environmental interaction during visual navigation. The experimental result shows that this method can effectively achieve obstacle avoidance task during robot visual navigation.