DocumentCode
2688918
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
fYear
2009
fDate
10-15 Oct. 2009
Firstpage
5101
Lastpage
5106
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.2009.5354652
Filename
5354652
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