Generating target path for tracing a line before missing the traced line of dead angle of camera

In this paper, the problem that a robot misses traced line due to its dead angle during a line trace task is focused. When a vehicle traces a line on the floor, it usually uses a camera image in real-times. However, it is difficult to trace a line when the line is hidden in the dead angle of a camera, and the camera cannot catch the line. This paper describes the method of a generating target path before missing the traced line in dead angle of camera and we examined whether the target path is generated, and a robot is appropriately control using a real robot. At first, a line is extracted from camera image, then Bezier interpolation is applied to interpolate the extracted line to make the line smooth. The interpolated line is converted from the image coordinate system to robot coordinate system. We examined whether a mobile robot could trace along a target path in a situation that is impossible for the robot to trace a sharp curve with a small radius because the line is hidden in the dead angle of the camera when the robot goes straight in a while. Actually, the target path can be generated and traced in the situations by the robot