Machine-vision based obstacle avoidance system for robot system

Author

Cheng-Pei Tsai ; Chin-Tun Chuang ; Ming-Chih Lu ; Wei-Yen Wang ; Shun-Feng Su ; Shyang-Lih Chang

Author_Institution

Dept. of Electr. Eng., NTUST, Taipei, Taiwan

fYear

2013

fDate

4-6 July 2013

Firstpage

273

Lastpage

277

Abstract

In this paper, we proposed a machine-vision based obstacle avoidance system for robot system by using single camera, it could accomplished an obstacle avoidance and path planning. The structure of this system is using a camera and two laser projectors fixed on same base. When robot get into a unknown environment, it will stop and capture an image, the system use several simple image process steps to recognize the obstacle. The system will rotate the base to project the laser points on obstacle, the distance measurement results calculated by IBDMS method, when the system calculated the distance between obstacle and robot, it could planned the path to achieve the autonomous patrol.

Keywords

collision avoidance; distance measurement; image sensors; mobile robots; optical projectors; robot vision; IBDMS method; autonomous patrol; distance measurement results; image process steps; laser points; laser projectors; machine-vision based obstacle avoidance system; path planning; robot system; single camera; Cameras; Collision avoidance; Equations; Mathematical model; Measurement by laser beam; Robot vision systems; IBDMS; Machine-Vision based obstacle avoidance system; path planning;

fLanguage

English

Publisher

ieee

Conference_Titel

System Science and Engineering (ICSSE), 2013 International Conference on

Conference_Location

Budapest

ISSN

2325-0909

Print_ISBN

978-1-4799-0007-7

Type

conf

DOI

10.1109/ICSSE.2013.6614673

Filename

6614673