A Robot Obstacle Avoidance Method Using Merged CNN Framework

Nai Hsiang Chang; Yi Hsing Chien; Hsin Han Chiang; Wei Yen Wang; Chen Chien Hsu

doi:10.1109/ICMLC48188.2019.8949168

A Robot Obstacle Avoidance Method Using Merged CNN Framework

Nai Hsiang Chang, Yi Hsing Chien, Hsin Han Chiang, Wei Yen Wang, Chen Chien Hsu

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

8 Citations (Scopus)

Abstract

In this paper, a merged convolution neural network (CNN) framework is proposed to automatically avoid obstacles. Although there are many methods for avoiding obstacles, previous methods mostly contain high energy-consuming and high cost. This paper aims to realize an image-based method with a monocular webcam. The experimental results illustrate that the proposed method can effectively avoid obstacles in mobile robot navigation.

Original language	English
Title of host publication	Proceedings of 2019 International Conference on Machine Learning and Cybernetics, ICMLC 2019
Publisher	IEEE Computer Society
ISBN (Electronic)	9781728128160
DOIs	https://doi.org/10.1109/ICMLC48188.2019.8949168
Publication status	Published - 2019 Jul
Event	18th International Conference on Machine Learning and Cybernetics, ICMLC 2019 - Kobe, Japan Duration: 2019 Jul 7 → 2019 Jul 10

Publication series

Name	Proceedings - International Conference on Machine Learning and Cybernetics
Volume	2019-July
ISSN (Print)	2160-133X
ISSN (Electronic)	2160-1348

Conference

Conference	18th International Conference on Machine Learning and Cybernetics, ICMLC 2019
Country/Territory	Japan
City	Kobe
Period	2019/07/07 → 2019/07/10

Keywords

Merged CNN framework
Obstacle avoidance method
ROS architecture

ASJC Scopus subject areas

Artificial Intelligence
Computational Theory and Mathematics
Computer Networks and Communications
Human-Computer Interaction

Access to Document

10.1109/ICMLC48188.2019.8949168

Cite this

Chang, N. H., Chien, Y. H., Chiang, H. H., Wang, W. Y., & Hsu, C. C. (2019). A Robot Obstacle Avoidance Method Using Merged CNN Framework. In Proceedings of 2019 International Conference on Machine Learning and Cybernetics, ICMLC 2019 Article 8949168 (Proceedings - International Conference on Machine Learning and Cybernetics; Vol. 2019-July). IEEE Computer Society. https://doi.org/10.1109/ICMLC48188.2019.8949168

A Robot Obstacle Avoidance Method Using Merged CNN Framework. / Chang, Nai Hsiang; Chien, Yi Hsing; Chiang, Hsin Han et al.
Proceedings of 2019 International Conference on Machine Learning and Cybernetics, ICMLC 2019. IEEE Computer Society, 2019. 8949168 (Proceedings - International Conference on Machine Learning and Cybernetics; Vol. 2019-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Chang, NH, Chien, YH, Chiang, HH , Wang, WY & Hsu, CC 2019, A Robot Obstacle Avoidance Method Using Merged CNN Framework. in Proceedings of 2019 International Conference on Machine Learning and Cybernetics, ICMLC 2019., 8949168, Proceedings - International Conference on Machine Learning and Cybernetics, vol. 2019-July, IEEE Computer Society, 18th International Conference on Machine Learning and Cybernetics, ICMLC 2019, Kobe, Japan, 2019/07/07. https://doi.org/10.1109/ICMLC48188.2019.8949168

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A Robot Obstacle Avoidance Method Using Merged CNN Framework

Abstract

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Keywords

ASJC Scopus subject areas

Access to Document

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