Nanchang Hangkong University/School of Information Engineering, Nanchang, China

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Abstract—Currently, in order to avoid obstacle, most robots will choose a new path. This paper proposed a new obstacle avoidance method for biped robots. When lower obstacle exists in the road, we will calculate the obstacle’s three-dimensional information instead of using the traditional method of re-select the path, so that the biped robot will avoid obstacles successfully by crossing the obstacle. In 3-d reconstruction, the stereo matching is complex, and has large time consumption. Therefore, the method in this paper has a combination of color segmentation and height detection, extracts obstacle’s region accurately to reduce detection range of matching, then improves the real-time of reconstruction. Experiments show that the method proposed in this paper is feasible.

Index Terms—Biped robot, Color segmentation, Height detection, Stereo matching, Obstacle reconstruction.

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Cite: Zetao Jiang, Yanru Cui, Qiang Wang, "A New Obstacle Avoidance Method Based on Biped Robot," Journal of Computers vol. 7, no. 10, pp. 2362-2367, 2012.