Title :
Mobile robot navigation using circular path planning algorithm
Author :
Han, Sung-Min ; Lee, Kang-Woong
Author_Institution :
Sch. of Electron., Korea Aerosp. Univ., Seoul
Abstract :
In this paper we propose a circular path planning algorithm for a mobile robot using only monocular vision system. The proposed method reduces the size of image data obtained by CCD camera to improve the image processing speed and noise immunity. A circular path for obstacle avoidance of the mobile robot is determined by the position and size of obstacles. Velocity of the mobile robot is controlled to guarantee stable movement. We show performance of the proposed method through experiments on Pioneer2-DX.
Keywords :
CCD image sensors; mobile robots; path planning; robot vision; CCD camera; circular path planning algorithm; image processing speed; mobile robot navigation; monocular vision system; noise immunity; obstacle avoidance; Cameras; Charge coupled devices; Charge-coupled image sensors; Image processing; Machine vision; Mobile robots; Navigation; Noise reduction; Path planning; Robot vision systems; circular path planning; mobile robot navigation; obstacle avoidance; vision system;
Conference_Titel :
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-9-3
Electronic_ISBN :
978-89-93215-01-4
DOI :
10.1109/ICCAS.2008.4694436
