Research on obstacle avoidance for mobile robot based on binocular stereo vision and infrared ranging

摘要

In this paper, a mobile robot obstacle avoidance system based on information fusion of infrared sensor and binocular vision sensors is proposed. The complete distance information between the robot and obstacles, which is obtained from the infrared sensors and the binocular sensor can real-time help the robot perceiving its location relative to all kinds of obstacles under the unknown environment. Furthermore, a reasonable obstacles-avoiding strategy based on the location information is used to govern the DC servo motors of the left and right driving wheels and realize real-time avoiding obstacles. At last, it is demonstrated by the experiments that the proposed method is effective.