Dynamic obstacle avoidance path planning

Shun Feng Su, Ming Chang Chen, Chung Ying Li, Wei Yen Wang, Wen June Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper proposes an image-based parallel lines distance measurement system (IBPLDMS), which is capable of executing an obstacle-detection and obstacle-avoidance path planning in a dynamic environment. The proposed IBPLDMS contains an image processing unit and an obstacle-avoidance unit. The image processing unit preprocesses captured images for an obstacle-avoidance task, in which the images are processed by the procedures of the grayscale transform, image morphologies, canny edge detection, connected-component labeling, and Hough transform. According to the definition of standard parallel lines, the obstacle-avoidance path for robots can be determined in the real time. Note that for the proposed IBPLDMS, only one webcam and the definition of the standard parallel lines are necessary for preparing for the setup. From the experimental results, we prove the proposed method is effective.

Original languageEnglish
Title of host publicationConference Proceedings - 2014 International Conference on System Science and Engineering, ICSSE 2014
PublisherIEEE Computer Society
Pages36-39
Number of pages4
ISBN (Print)9781479943678
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 International Conference on System Science and Engineering, ICSSE 2014 - Shanghai, China
Duration: 2014 Jul 112014 Jul 13

Publication series

NameConference Proceedings - 2014 International Conference on System Science and Engineering, ICSSE 2014

Other

Other2014 International Conference on System Science and Engineering, ICSSE 2014
CountryChina
CityShanghai
Period14/7/1114/7/13

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Su, S. F., Chen, M. C., Li, C. Y., Wang, W. Y., & Wang, W. J. (2014). Dynamic obstacle avoidance path planning. In Conference Proceedings - 2014 International Conference on System Science and Engineering, ICSSE 2014 (pp. 36-39). [6887900] (Conference Proceedings - 2014 International Conference on System Science and Engineering, ICSSE 2014). IEEE Computer Society. https://doi.org/10.1109/ICSSE.2014.6887900