期刊名称：International Journal of Future Generation Communication and Networking
印刷版ISSN：2233-7857
出版年度：2016
卷号：9
期号：8
页码：111-120
出版社：SERSC
摘要：In view of the problem of AS-R autonomous wheeled mobile robot obstacle avoidance, a rapid convergence of sonar and binocular stereovision sensor distance information in order to detect and avoid obstacle algorithm is proposed in this paper. The algorithm first uses binocular camera (CCD) to get three-dimensional image of the real environment, through the stereo matching and V-disparity method which is used to calculate disparity map, then obstacles is extracted by Hough lines detection algorithm, finally we will get information about obstacles and sonar return information with T-S fuzzy neural network fusion, then it will output walking controlled decisions. Experimental results proved that the algorithm is effective and practical.
