Image-based obstacle avoidance and path-planning system

Yi Han Chen, Ming Chang Chen, I. Hsum Li, Wei-Yen Wang, Shun Feng Su

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

2 Citations (Scopus)

Abstract

This paper proposes an image detection method which is applied to obstacle-detecting and path-planning system of a wheeled mobile robot. The positions of obstacles can be recognized by using medium filter, morphologic processing, canny edge detection, and connected component labeling. And this paper utilizes Parallel Lines Distance Measurement (PLDM) to detect the real world coordinates of obstacles. Because it only needs a single webcam and several laser points for the setting of PLDM, it is easier to set up the experimental environment and the cost for setting is relatively cheaper. At last, we combine image detection method with PLDM to complete the path-planning system of a wheeled mobile robot. Then the path-planning can be shown on the two-dimensional map immediately. Our simulation results, presented at the end of this paper, show that the proposed image detection method is effective in the path-planning system of a wheeled mobile robot.

Original languageEnglish
Title of host publicationICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings
Pages205-209
Number of pages5
DOIs
Publication statusPublished - 2013 Nov 18
EventIEEE International Conference on System Science and Engineering, ICSSE 2013 - Budapest, Hungary
Duration: 2013 Jul 42013 Jul 6

Publication series

NameICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings

Other

OtherIEEE International Conference on System Science and Engineering, ICSSE 2013
CountryHungary
CityBudapest
Period13/7/413/7/6

ASJC Scopus subject areas

  • Control and Systems Engineering

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