Monocular image-based local collision-free path planning for autonomous robots

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

*此作品的通信作者

研究成果: 雜誌貢獻期刊論文同行評審

1 引文 斯高帕斯(Scopus)

摘要

Monocular image-based local collision-free path planning for autonomous robots is presented in this paper. According to a pre-set pair of parallel lines, transformation equations from the image domain to the real world domain are easily defined. Moreover, the distances to obstacles in the robot's visual domain can be estimated. Our proposed method can not only easily identify obstacles and wall edges, but also estimate the distances and plan a collision-free path. Besides, this paper successfully integrates an image processing module with a local collision-free path planning, and also applies them to the collision-free and path planning of a mobile robot. For the proposed local collision-free path planning, the webcam can be located at two different situations: one is setting a webcam located on the ceiling and the other is setting a webcam on a mobile robot. In addition, the measurement method only uses a webcam and four laser projectors. Thus, we do not need to purchase expensive equipment to accomplish the desired results. From the experimental results, it shows that our proposed method can be effectively applied to the local collision-free path planning.

原文英語
頁(從 - 到)759-770
頁數12
期刊Journal of Marine Science and Technology (Taiwan)
24
發行號4
DOIs
出版狀態已發佈 - 2016

ASJC Scopus subject areas

  • 海洋學
  • 海洋工程
  • 材料力學
  • 機械工業

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