關鍵字查詢 | 類別:期刊論文 | | 關鍵字:Obstacle Avoidance of Mobile Robot Based on HyperOmni Vision

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1 107/2 電機系 李世安 副教授 期刊論文 發佈 Obstacle Avoidance of Mobile Robot Based on HyperOmni Vision , [107-2] :Obstacle Avoidance of Mobile Robot Based on HyperOmni Vision期刊論文Obstacle Avoidance of Mobile Robot Based on HyperOmni VisionShih-An Li; Li-Hsiang Chou; Tsung-Han Chang; Chao-Hsu Yang; Yu-Cheng Changdynamic window approach;artificial potential field;HyperOmni Vision;mobile robot;obstacle avoidanceSensors and Materials 31(3), p.1021–1036In 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 o
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