Dynamic Obstacle Avoidance with Size Consideration for Mobile Robotics

The goal for this effort is to develop a vision-based robotic system that allows a mobile robot to avoid a collision with an oncoming object with the object size considered. A camera-based vision system is mounted on an omniwheel mobile robot and consists of two cameras placed side by side. The distance of the oncoming object from the camera is determined by using stereo vision. In addition, the visual system determines the size of the object by using an area-based method. Based on the information given by the visual system, the autonomous rover decides the direction and speed of motion to avoid the collision with the oncoming object and keep a safe distance between the object and the robot.