Control of a wheeled mobile robot with two image processing grades

This paper proposes a new method for trajectory planning of a mobile robot with 3D image processing. Recent advances of computer technology make it possible to realize a real time feedback of visual information in motion control system. In almost all methods, it is assumed that environment and/or shape of obstacles are given. In the practical implementation, however, this assumption restricts the robot motion to realize a desired task. To address the above issue, this paper introduces level set method (LSM) to recognize 3D shape of unknown obstacle. The proposed approach has a simplified image processing and is easily applicable to motion control of the mobile robot.