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

doi:10.1109/ICSSE.2013.6614673

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

^*Corresponding author for this work

Department of Electrical Engineering

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

3 Citations (Scopus)

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 language	English
Title of host publication	ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings
Pages	273-277
Number of pages	5
DOIs	https://doi.org/10.1109/ICSSE.2013.6614673
Publication status	Published - 2013
Event	IEEE International Conference on System Science and Engineering, ICSSE 2013 - Budapest, Hungary Duration: 2013 Jul 4 → 2013 Jul 6

Publication series

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

Other

Other	IEEE International Conference on System Science and Engineering, ICSSE 2013
Country/Territory	Hungary
City	Budapest
Period	2013/07/04 → 2013/07/06

Keywords

IBDMS
Machine-Vision based obstacle avoidance system
path planning

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/ICSSE.2013.6614673

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). Article 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 et al.
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 proceeding › Conference contribution

Tsai, CP, Chuang, CT, Lu, MC, Wang, WY, 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, 2013/07/04. https://doi.org/10.1109/ICSSE.2013.6614673

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title = "Machine-vision based obstacle avoidance system for robot system",

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.",

keywords = "IBDMS, Machine-Vision based obstacle avoidance system, path planning",

author = "Tsai, {Cheng Pei} and Chuang, {Chin Tun} and Lu, {Ming Chih} and Wang, {Wei Yen} and Su, {Shun Feng} and Chang, {Shyang Lih}",

year = "2013",

doi = "10.1109/ICSSE.2013.6614673",

language = "English",

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AU - Chuang, Chin Tun

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AU - Chang, Shyang Lih

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AB - 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.

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Machine-vision based obstacle avoidance system for robot system

Abstract

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Keywords

ASJC Scopus subject areas

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