Autonomous mobile robot guidance based on ground line mark

Author

Xiuzhi Li ; Songmin Jia ; Jinhui Fan ; Liwen Gao ; Bing Guo

Author_Institution

Coll. of Electron. Inf. & Control Eng., Beijing Univ. of Technol., Beijing, China

fYear

2012

fDate

20-23 Aug. 2012

Firstpage

1091

Lastpage

1095

Abstract

This paper presents a mobile robot guidance approach based on tracking of straight line marked on the ground. To accurately and robustly extract the ground line, a senior line detector, with sub-pixel centre localization of capability for a stripe like narrow region, is successfully presented. PD and PID are designed for mobile robot tracking control and their performances are compared in experiment. From the experimental results, the effectiveness and usefulness of the proposed guidance system are confirmed.

Keywords

PD control; automatic guided vehicles; feature extraction; image resolution; mobile robots; object detection; object tracking; path planning; robot vision; three-term control; PD control; PID control; automated guided vehicle; autonomous mobile robot guidance; ground line extraction; ground line mark; mobile robot tracking control; senior line detector; straight line tracking; stripe like narrow region; subpixel centre localization; Detectors; Mobile robots; PD control; Robot kinematics; Robot sensing systems; Robustness; Line detector; Line tracking; Mobile robot; PID control;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual Conference (SICE), 2012 Proceedings of

Conference_Location

Akita

ISSN

pending

Print_ISBN

978-1-4673-2259-1

Type

conf

Filename

6318605