A Hybrid Architecture for Vision-Based Obstacle Avoidance

A Hybrid Architecture for Vision-Based Obstacle Avoidance

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This paper proposes a new obstacle avoidance method using a single monocular vision camera as the only sensor which is called as Hybrid Architecture.This architecture integrates a high performance appearance-based obstacle detection method into an optical flow-based navigation system.The hybrid architecture was designed and implemented to run both methods simultaneously and is able to combine the results of each method using a novel arbitration mechanism.The here proposed strategy successfully fused two different vision-based obstacle avoidance methods using this arbitration mechanism in order to permit a safer obstacle avoidance system.

Accordingly, to establish the adequacy of the design of the obstacle avoidance system, a series of experiments were conducted.The results demonstrate the characteristics of the proposed architecture, and the results prove red pygmy dogwood that its performance is somewhat better than the conventional optical flow-based architecture.Especially, the robot employing Hybrid Architecture avoids lateral obstacles in a more smooth and robust manner than when using the conventional optical flow-based technique.