Machine-vision based obstacle avoidance system for robot system

Cheng Pei Tsai, Chin Tun Chuang, Ming Chih Lu, Wei-Yen Wang, Shun Feng Su, Shyang Lih Chang

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

Abstract

In this paper, we proposed a machine-vision based obstacle avoidance system for robot system by using single camera, it could accomplished an obstacle avoidance and path planning. The structure of this system is using a camera and two laser projectors fixed on same base. When robot get into a unknown environment, it will stop and capture an image, the system use several simple image process steps to recognize the obstacle. The system will rotate the base to project the laser points on obstacle, the distance measurement results calculated by IBDMS method, when the system calculated the distance between obstacle and robot, it could planned the path to achieve the autonomous patrol.

Original languageEnglish
Title of host publicationICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings
Pages273-277
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

Fingerprint

Collision avoidance
Computer vision
Robots
Cameras
Distance measurement
Lasers
Motion planning

Keywords

  • IBDMS
  • Machine-Vision based obstacle avoidance system
  • path planning

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Tsai, C. P., Chuang, C. T., Lu, M. C., Wang, W-Y., Su, S. F., & Chang, S. L. (2013). Machine-vision based obstacle avoidance system for robot system. In ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings (pp. 273-277). [6614673] (ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings). https://doi.org/10.1109/ICSSE.2013.6614673

Machine-vision based obstacle avoidance system for robot system. / Tsai, Cheng Pei; Chuang, Chin Tun; Lu, Ming Chih; Wang, Wei-Yen; Su, Shun Feng; Chang, Shyang Lih.

ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings. 2013. p. 273-277 6614673 (ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings).

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

Tsai, CP, Chuang, CT, Lu, MC, Wang, W-Y, Su, SF & Chang, SL 2013, Machine-vision based obstacle avoidance system for robot system. in ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings., 6614673, ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings, pp. 273-277, IEEE International Conference on System Science and Engineering, ICSSE 2013, Budapest, Hungary, 13/7/4. https://doi.org/10.1109/ICSSE.2013.6614673
Tsai CP, Chuang CT, Lu MC, Wang W-Y, Su SF, Chang SL. Machine-vision based obstacle avoidance system for robot system. In ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings. 2013. p. 273-277. 6614673. (ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings). https://doi.org/10.1109/ICSSE.2013.6614673
Tsai, Cheng Pei ; Chuang, Chin Tun ; Lu, Ming Chih ; Wang, Wei-Yen ; Su, Shun Feng ; Chang, Shyang Lih. / Machine-vision based obstacle avoidance system for robot system. ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings. 2013. pp. 273-277 (ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings).
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