Title :
Mobile robot navigation by dynamic path planning
Author :
Nagahara, Daisuke ; Nara, Syunsuke ; Takahashi, Satoru
Author_Institution :
Kagawa Univ., Takamatsu
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;
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
DOI :
10.1109/ICCAS.2007.4406891
