DocumentCode
3154388
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
fYear
2008
fDate
20-22 Aug. 2008
Firstpage
1204
Lastpage
1207
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;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference, 2008
Conference_Location
Tokyo
Print_ISBN
978-4-907764-30-2
Electronic_ISBN
978-4-907764-29-6
Type
conf
DOI
10.1109/SICE.2008.4654842
Filename
4654842
Link To Document