A Target Searching Method of Mobile Robot Based on Scene Complexity

To solve the target searching issues of mobile robot in unknown environment, the complexity conception which used search experiences of human was introduced to the mobile robot target searching task, and a novel target searching method based on scene complexity was proposed. First of all, formalized definition of scene complexity was given by analyzing the major factors relative to scene complexity, which combined image complexity with scene depth complexity. Secondly, the scene complexity method was applied to the target searching process, in which the next searching scene was selected by comparing each view of scenes complexity, and the next searching position was determined by the laser ranges of this scene. Experimental results show that the calculation method of scene complexity is in accord with human evaluation, which reflects the scene inherent characteristics, and the proposed target searching method was effective and robust.