一种改进的HS光流法在机器人避障系统中的应用

摘要

Autonomous robot obstacle avoidance function is an important function when it is moving in an unknown environment.Obstacle avoidance system based on optical flow method became a new research point in recent years.HS method was proposed by Horn & Schunck which is mostly used to calculate optical flow field.Based on HS a new method was proposed to speed up optical flow field calculation.Two algorithms were applied in the same obstacle avoidance system.By comparing the result of obstacle avoidance experiments some conclusions can be obtained that when the system used new method,it can detect obstacles in front of the robot faster than when it used HS so this experiments prove that the new method can improve efficiency of the robot avoiding obstacles.%机器人的自主避障功能是其在未知环境中顺利行驶的必备功能.基于光流法的机器入避障系统是近几年研究的新热点,在光流场的计算方法中,被使用最多的是由Horn&Schunck提出的HS光流法.在传统HS光流法的基础上,提出了一种加快光流场计算的方法;并将两种算法应用到相同的避障系统中.通过比较机器人避障实验的结果可以得出,当使用改进算法计算光流场时,避障系统能更快的探测出机器人行驶前方的障碍物,提高了机器人躲避障碍物的效率.