Obstacle Avoidance of Mobile Robot Based on HyperOmni Vision
學年 107
學期 2
出版（發表）日期 2019-03-29
作品名稱 Obstacle Avoidance of Mobile Robot Based on HyperOmni Vision
作品名稱（其他語言）
著者 Shih-An Li; Li-Hsiang Chou; Tsung-Han Chang; Chao-Hsu Yang; Yu-Cheng Chang
單位
出版者
著錄名稱、卷期、頁數 Sensors and Materials 31(3), p.1021–1036
摘要 In this paper, we present a method that combines an improved dynamic window approach (IDWA) and an artificial potential field to avoid obstacles for autonomous wheeled robots with HyperOmni Vision. The experimental environment follows the rule of RoboSot avoidance challenge in the Federation of International Robot-soccer Association (FIRA) competition.There are three parts of this study, namely, (1) image processing, (2) an IDWA, and (3) an improved artificial potential field. In the avoidance challenge in FIRA, the robot must avoid eight obstacles that are placed randomly in the playing field. The results indicate that the three-wheeled robot can avoid obstacles autonomously by using the method proposed in this paper. Our team won the FIRA avoidance challenge championship this year by the method proposed in this paper.
關鍵字 dynamic window approach;artificial potential field;HyperOmni Vision;mobile robot;obstacle avoidance
語言 en
ISSN 0914-4935
期刊性質 國外
收錄於 SCI ESCI
產學合作
通訊作者
審稿制度 否
國別 JPN
公開徵稿
出版型式 ,電子版
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/117021 )

SDGS 產業創新與基礎設施