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 en
ISSN
期刊性質 國內
收錄於 SCI
產學合作
通訊作者
審稿制度 是
國別 TWN
公開徵稿
出版型式 ,電子版
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機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/115962 )

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