Title :
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
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;
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
DOI :
10.1109/ICIEA.2010.5514973
