Image-based obstacle avoidance and path-planning system

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

研究成果: 書貢獻/報告類型會議貢獻

2 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings
頁面205-209
頁數5
DOIs
出版狀態已發佈 - 2013 十一月 18
事件IEEE International Conference on System Science and Engineering, ICSSE 2013 - Budapest, 匈牙利
持續時間: 2013 七月 42013 七月 6

出版系列

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

其他

其他IEEE International Conference on System Science and Engineering, ICSSE 2013
國家匈牙利
城市Budapest
期間13/7/413/7/6

ASJC Scopus subject areas

  • Control and Systems Engineering

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