教師資料查詢 | 類別: 期刊論文 | 教師: 李宜勳 LI, I-HSUN (瀏覽個人網頁)

標題:Monocular Image-Based Local Collision-Free Path Planning for Autonomous Robots
學年105
學期1
出版(發表)日期2016/08/01
作品名稱Monocular Image-Based Local Collision-Free Path Planning for Autonomous Robots
作品名稱(其他語言)
著者I.H. Li; M.C. Chen; W.Y. Wang; S.F. Su; I.H. Chen
單位
出版者
著錄名稱、卷期、頁數Journal of Marine Science and Technology 24(4), p.759-770
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.
關鍵字monocular;local collision-free path planning;autonomous robot
語言英文
ISSN
期刊性質國內
收錄於SCI;
產學合作
通訊作者
審稿制度
國別中華民國
公開徵稿
出版型式,電子版
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