Obstacle detection by Evolutionary Algorithm: the Fly Algorithm

Artificial vision is a key element in robots autonomy. The Fly algorithm is a fast evolutionary algorithm designed for real time obstacle detection using pairs of stereo images. It aims to be used in particular in the fields of mobile robotics and automated vehicles. Based on the Parisian approach, the Fly algorithm produces a set of 3-D points which gather on the surfaces of obstacles. This paper describes the use of the Fly algorithm for obstacle detection in a real environment, and a possible use for vehicle control is presented