Dynamic obstacle avoidance of vision sensor mobile robot based on prior knowledge

Abstract

Aiming at the problem that obstacle avoidance algorithms do not distinguish the types of obstacles in the process of obstacle recognition and avoidance, this paper designs a robot obstacle avoidance system including knowledge base by combining prior knowledge with obstacle avoidance algorithm. The knowledge in the knowledge base can be defined by human as prior knowledge to classify obstacles. This makes it possible for the robot to identify obstacles according to the vision sensor in the obstacle avoidance process, and can choose different obstacle avoidance strategies for different obstacles according to the existing knowledge in the knowledge base. The knowledge base takes knowrob as the platform, and the experimental results show that the obstacle avoidance system can effectively avoid obstacles.