Title :
Path planning of mobile robot by vision and range
Author :
Yagi, Shigetaka ; Nagahara, Daisuke ; Takahashi, Satoru
Author_Institution :
Dept. of Intell. Mech. Syst. Eng., Kagawa Univ., Takamatsu
Abstract :
This paper considers a path planning of a mobile robot by single CCD camera and a scan range finder. First, the mobile robot detects the obstacle based on information of both the image and the distance. Then, from the obstacle information, the mobile robot generates a trajectory to reach a final destination avoiding the obstacles. Finally, usefulness of proposed methods is shown through experiment.
Keywords :
CCD image sensors; collision avoidance; correlation methods; image matching; image sequences; laser ranging; mobile robots; object detection; robot vision; CCD camera; block matching method; candidate obstacle area detection; mobile robot; normalized correlation; obstacle avoidance; optical flow; path planning; robot vision; scan laser range finder; Cameras; Charge coupled devices; Charge-coupled image sensors; Floors; Mobile robots; Path planning; Robot kinematics; Robot vision systems; Wheels; Wireless LAN; Path planning; image processing; scan laser range finder;
Conference_Titel :
SICE Annual Conference, 2008
Conference_Location :
Tokyo
Print_ISBN :
978-4-907764-30-2
Electronic_ISBN :
978-4-907764-29-6
DOI :
10.1109/SICE.2008.4654842
