Application of image process and distance computation to WMR obstacle avoidance and parking control

Author

Zhan, Jia-Jun ; Wu, Chen-Han ; Juang, Jih-Gau

Author_Institution

Dept. of Commun., Navig. & Control Eng., Nat. Taiwan Ocean Univ., Keelung, Taiwan

fYear

2010

fDate

15-17 June 2010

Firstpage

1264

Lastpage

1269

Abstract

This paper presents the use of camera, sonar sensor, and localization system on a wheeled mobile robot (WMR) for obstacle avoidance and parking control. The camera provides image of the surrounding. Distance between the WMR and object or obstacle can be obtained by image process and distance computation algorithm. Fuzzy system and genetic algorithm are integrated in the control scheme that can effectively drive the WMR without complicated mathematical equations. Sonar sensors detect safety distance for the WMR. The localization system provides coordinate position of the WMR. The WMR can perform obstacle avoidance and garage parking successfully.

Keywords

collision avoidance; fuzzy control; genetic algorithms; image processing; mobile robots; robot vision; traffic control; camera; distance computation; fuzzy system; garage parking; genetic algorithm; image processing; localization system; parking control; sonar sensor; wheeled mobile robot obstacle avoidance; Cameras; Control systems; Equations; Fuzzy systems; Genetic algorithms; Mobile robots; Robot vision systems; Safety; Sensor systems; Sonar detection; WMR; image process; obstacle avoidance; parking control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Applications (ICIEA), 2010 the 5th IEEE Conference on

Conference_Location

Taichung

Print_ISBN

978-1-4244-5045-9

Electronic_ISBN

978-1-4244-5046-6

Type

conf

DOI

10.1109/ICIEA.2010.5514973

Filename

5514973