DocumentCode :
2942768
Title :
Design of an intelligent outdoor mobile robot with autonomous road-crossing function for urban environments
Author :
Chand, Aneesh N. ; Yuta, Shin´ichi
Author_Institution :
Sch. of Electr. Eng., Fiji Nat. Univ., Fiji
fYear :
2012
fDate :
11-14 July 2012
Firstpage :
355
Lastpage :
362
Abstract :
This paper describes the total system design and implementation of an outdoor mobile robot with an autonomous road-crossing function intended for urban environments. The developed robot is capable of navigating along sidewalks while simultaneously detecting pedestrian push-button boxes. If a button box is detected, the robot can autonomously traverse up to it with high precision and activate the push button with a finger. Next, it approaches the crossing zone, detects the zebra stripes and perceives the trajectory required to cross. Upon detecting a green signal, the robot then finally crosses the road to reach the opposite side of the road and continue to its intended destination. We tested the robot in a real and unmodified outdoor environment and obtained promising results. More application-oriented, the novelty of this work is that not only is the robot capable of crossing roads autonomously, it can also autonomously activate pedestrian push buttons in a real world outdoor environment; there are not many robots that can perform such an action in an outdoor environment.
Keywords :
mobile robots; object detection; path planning; roads; robot vision; autonomous road-crossing function; green signal detection; intelligent outdoor mobile robot design; pedestrian push-button box detection; sidewalk navigation; urban environments; zebra stripe detection; Electronic mail; Mobile robots; Navigation; Roads; Robot kinematics; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2012 IEEE/ASME International Conference on
Conference_Location :
Kachsiung
ISSN :
2159-6247
Print_ISBN :
978-1-4673-2575-2
Type :
conf
DOI :
10.1109/AIM.2012.6265913
Filename :
6265913
Link To Document :
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