教師資料查詢 | 類別: 期刊論文 | 教師: 李世安 Shih-An, Li (瀏覽個人網頁)

標題: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
語言英文
ISSN0914-4935
期刊性質國外
收錄於SCI;ESCI;
產學合作
通訊作者
審稿制度
國別日本
公開徵稿
出版型式,電子版
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