Obstacle Avoidance of Mobile Robot Based on HyperOmni Vision

摘要

In this paper, we present a method that combines an improved dynamic window approach (IDWA) and an artificial potential field to avoid obstacles for autonomous wheeled robots with HyperOmni Vision. The experimental environment follows the rule of RoboSot avoidance challenge in the Federation of International Robot-soccer Association (FIRA) competition. There are three parts of this study, namely, (1) image processing, (2) an IDWA, and (3) an improved artificial potential field. In the avoidance challenge in FIRA, the robot must avoid eight obstacles that are placed randomly in the playing field. The results indicate that the threewheeled robot can avoid obstacles autonomously by using the method proposed in this paper. Our team won the FIRA avoidance challenge championship this year by the method proposed in this paper.