TY - GEN
T1 - Dynamic obstacle avoidance path planning
AU - Su, Shun Feng
AU - Chen, Ming Chang
AU - Li, Chung Ying
AU - Wang, Wei Yen
AU - Wang, Wen June
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84907069478&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84907069478&partnerID=8YFLogxK
U2 - 10.1109/ICSSE.2014.6887900
DO - 10.1109/ICSSE.2014.6887900
M3 - Conference contribution
AN - SCOPUS:84907069478
SN - 9781479943678
T3 - Conference Proceedings - 2014 International Conference on System Science and Engineering, ICSSE 2014
SP - 36
EP - 39
BT - Conference Proceedings - 2014 International Conference on System Science and Engineering, ICSSE 2014
PB - IEEE Computer Society
T2 - 2014 International Conference on System Science and Engineering, ICSSE 2014
Y2 - 11 July 2014 through 13 July 2014
ER -