Title :
A study of real-time path planning for mobile robots based on environment recognition using omnidirectional images
Author :
Hasegawa, Kosuke ; Ohkubo, Tomoyuki ; Kobayashi, Kazuyuki ; Watanabe, Kajiro ; Kurihara, Yosuke
Author_Institution :
Grad. Sch. of Eng., Hosei Univ., Tokyo, Japan
Abstract :
The successful combination of robust environment detection and appropriate path planning is a key challenge in developing intelligent mobile robots. The main problem is the time-consuming process of environment recognition using a sequence of images. We introduce a new path planning algorithm that reduces the processing time and achieves robust and stable navigation, and a PSoC microcontroller for stable robot control. The proposed smart image recognition algorithm for mobile robots provides intelligent environment detection and path planning using omnidirectional images and a heuristic search. Based on the detected environment, an appropriate path is generated by applying the proposed heuristic search algorithm. The validity of the proposed algorithm is verified using an actual mobile robot in a real-world environment.
Keywords :
image recognition; image sequences; intelligent robots; microcontrollers; mobile robots; path planning; search problems; stability; system-on-chip; PSoC microcontroller; environment recognition; heuristic search algorithm; image sequence; intelligent mobile robots; mobile robots; omnidirectional images; real-time path planning; robust environment detection; smart image recognition algorithm; stable robot control; Artificial neural networks; A-star search algorithm; Omnidirectional camera; PSoC; Principal Component Analysis; Watershed algorithm; mobile robot;
Conference_Titel :
SICE Annual Conference 2010, Proceedings of
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-7642-8