Title: Dynamic obstacle avoidance method for autonomous mobile robot based on machine vision

Authors: Hui Li; Shuo Liang; Xiangyu Han

Addresses: Institute of Information Technology, Handan University, Handan, 056005, Hebei, China; Hebei Key Laboratory of Optical Fiber Biosensing and Communication Devices, Handan, 056005, Hebei, China ' Institute of Information Technology, Handan University, Handan, 056005, Hebei, China ' Institute of Information Technology, Handan University, Handan, 056005, Hebei, China

Abstract: In order to improve the accuracy of dynamic obstacle avoidance and shorten the path of robot dynamic obstacle avoidance, this paper proposes a new dynamic obstacle avoidance method for autonomous mobile robots based on machine vision. Firstly, a kinematics model of an autonomous mobile robot is constructed to obtain information such as the robot's motion direction and speed. Secondly, machine vision technology is used to obtain the robot motion trajectory in real-time based on on-site environmental information, and YOLO algorithm is used to segment the robot image obtained by the machine vision camera to detect dynamic obstacles. Finally, DWA algorithm is used to detect whether there are moving obstacles on the robot's motion trajectory in real-time to achieve dynamic obstacle avoidance for the robot. The experimental results show that the proposed method has a higher obstacle avoidance accuracy, reaching a maximum of 96.7%, and the obstacle avoidance path is significantly shortened.

Keywords: machine vision; robot obstacle avoidance; YOLO algorithm; DWA algorithm; kinematic model.

DOI: 10.1504/IJRIS.2024.143157

International Journal of Reasoning-based Intelligent Systems, 2024 Vol.16 No.5, pp.392 - 399

Received: 16 Jan 2023
Accepted: 21 Mar 2023
Published online: 05 Dec 2024 *

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