Vision Based Intelligent Control for Mobile Robot

Author

Peng, Gang ; Huang, Xinhan ; Gao, Jian ; Wu, Yi

Author_Institution

Dept. of Control Sci. & Eng., Huazhong Univ. of Sci. & Technol., Wuhan

Volume

2

fYear

0

fDate

0-0 0

Firstpage

9124

Lastpage

9128

Abstract

According to environment information, navigation and motion control are key techniques in intelligent mobile robot system. Vision information is the most important way to perceive environment, the vision-based intelligent control techniques concerning on Pioneer II mobile robot system are presented. The object search, image segmentation based on HSV (hue-saturation-value) color mode, clustering algorithm and location based on CCD vision sensor are discussed in detail. Also, the software framework and functions of mobile robot control system based on vision are described, including server program structure and client procedure flow. The effective experimental results in which a mobile robot can autonomously convey object to target point based on CCD vision sensor are given

Keywords

image segmentation; intelligent control; mobile robots; motion control; path planning; pattern clustering; position control; robot vision; CCD vision sensor; Pioneer II; clustering algorithm; hue-saturation-value color mode; image segmentation; intelligent mobile robot system; motion control; navigation control; object search; vision based intelligent control; Charge coupled devices; Image segmentation; Intelligent control; Intelligent robots; Intelligent sensors; Intelligent systems; Machine vision; Mobile robots; Motion control; Navigation; intelligent control; mobile robot; sensor; vision;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1713765

Filename

1713765