The Research on Obstacle Avoidance of Hospital Ward Inspection Robots in Complex Environment

摘要

The working environment of the ward inspection robots is complex and changeable. Also obstacles may have various structure. This paper presents a new method to detect the obstacles based on the vision-laser sensors because traditional methods have some kind of deficiency in the use of detecting obstacles. The ward inspection robot uses the camera to obtain the information of obstacles, such as the size of obstacles and the distance between the robot and obstacles. Then, the robot will construct a virtual obstacle by using the information collected by the laser sensor and the camera. The virtual obstacle has its own avoidance strategies. By querying the obstacle's avoidance strategies table, the avoidance system will make the ward inspection robot avoid obstacle safely in complex environment. We have got satisfying results through experiments.