DocumentCode
2435764
Title
Mobile robot navigation by dynamic path planning
Author
Nagahara, Daisuke ; Nara, Syunsuke ; Takahashi, Satoru
Author_Institution
Kagawa Univ., Takamatsu
fYear
2007
fDate
17-20 Oct. 2007
Firstpage
116
Lastpage
121
Abstract
This paper introduces an obstacle avoidance control for a mobile robot using a single CCD camera and ultrasonic sensors. First, the mobile robot detects an obstacle based on information of both the image and the distance. Then, from the information obtained about the obstacle, the mobile robot generates a trajectory to avoid the obstacle. Finally, the usefulness of our proposed methods is demonstrated by experiments.
Keywords
CCD image sensors; collision avoidance; image sequences; mobile robots; ultrasonic devices; dynamic path planning; image processing; mobile robot navigation; obstacle avoidance control; obstacle detection; optical flow; single CCD camera; ultrasonic sensor; Cameras; Charge coupled devices; Charge-coupled image sensors; Mobile robots; Navigation; Path planning; Robot kinematics; Robot sensing systems; Robot vision systems; Wheels; Image processing; obstacle avoidance; optical flow; sensing control; trajectory generation;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation and Systems, 2007. ICCAS '07. International Conference on
Conference_Location
Seoul
Print_ISBN
978-89-950038-6-2
Electronic_ISBN
978-89-950038-6-2
Type
conf
DOI
10.1109/ICCAS.2007.4406891
Filename
4406891
Link To Document