Title :
Wavefront Method-Based Local-Path Planning for a Mobile Robot with a Vision System
Author :
Kwon, Ji-Wook ; Yang, Dong-Hoon ; Chwa, Dongkyoung ; Hong, Suk-Kyo
Author_Institution :
Dept. of Electr. & Comput. Eng., Ajou Univ., Suwon
Abstract :
This paper proposes a local path planning algorithm for a mobile robot with a vision system. Based on projective geometry and the wavefront-based skeleton method, the proposed algorithm performs obstacle extraction, 2D-3D transformation, and local path planning. The effectiveness of the proposed method is illustrated by experiments where a vision-equipped mobile robot navigates a maze using the proposed path planning algorithm
Keywords :
computational geometry; mobile robots; path planning; robot vision; 2D-3D transformation; local-path planning algorithm; mobile robot; projective geometry; vision system; wavefront-based skeleton method; Computational geometry; Joints; Machine vision; Mobile robots; Navigation; Path planning; Robot kinematics; Robot sensing systems; Robot vision systems; Skeleton; Local path planning; Mobile robot; Skeleton; Vision system; Voronoi-diagram; Wavefront method;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.315432
