Research On Obstacle Avoidance Of Mobile Robot Based On Optimal Estimated Point Matching Method

Optical flow method is an important way to study the obstacle avoidance of mobile robot.The optical flow combined balance strategy can accurately identify obstacles and guide mobile robots to avoid obstacles.Optical flow calculation and balance strategy are two core problems of robot recognition obstacles.In the natural light environment,the image sequence is collected by the camera carried by a mobile robot.The first frame image is divided into several feature areas.A feature point is selected in each feature area,and the location of the feature point is found on the corresponding feature area of the next frame by finding the minimum gray difference square sum().The optical flow value of the point is calculated by calculating the gray difference of the feature points on the two frames.This method is used to calculate the optical flow value of the left and right field,and the balance strategy is used to compare the average optical flow vector modes and.Because the optical flow value on one side of the obstacle will be greater than the other side,we can determine whether the obstacle exists or not through the calculation result,and guide the mobile robot to avoid the obstacle.However,when there is a symmetrical obstacle in the center field or there is a similar obstacle in the symmetrical position on both sides of the field,the calculated and are still equal.The traditional balance strategy will fail.To solve this problem,this paper proposes an improved balance strategy.When obtaining the = results into the verification,the image sequence is divided into three field and comparison of optical flow values,in order to determine whether there are barriers.Based on the optimal estimation point matching method,the optical flow computation in the study of obstacle avoidance problem of mobile robot can reduce the computation time to about 5% of the gradient method,and make the obstacle avoidance process faster.After the use of the improved balance strategy,mobile robots can identify obstacles that are not recognized by the traditional balance strategy.The whole research process is perfect from the obstacle avoidance scheme.And the success rate of obstacle avoidance is guaranteed.