Title :
Dynamic path planning of mobile robot mounted range sensors and single CCD camera
Author :
Takahashi, Satoru ; Nara, Shunsuke
Author_Institution :
Dept. of Intell. Mech. Syst. Eng., Kagawa Univ., Takamatsu, Japan
Abstract :
This paper treats a trajectory tracking control of a mobile robot by a single CCD camera and range sensors. First, the mobile robot detects the obstacle based on information of both the image and the distance. And then, from the obstacle information, the mobile robot generates a trajectory to avoid the obstacle. Finally, the usefulness of our proposed methods is demonstrated through experiment.
Keywords :
collision avoidance; distance measurement; mobile robots; position control; tracking; dynamic path planning; mobile robot mounted range sensors; obstacle detection; obstacle information; single CCD camera; trajectory tracking control; Cameras; Charge coupled devices; Charge-coupled image sensors; Intelligent robots; Mobile robots; Path planning; Robot kinematics; Robot sensing systems; Robot vision systems; Sensor systems;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354652
