Obstacle avoidance behavior of autonomous mobile robot using fiber grating vision sensor

Yukio Miyazaki, Akihisa Ohya, Shinichi Yuta

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

In this paper, we mention realization of obstacle avoidance behavior of autonomous mobile robot in an unstructured indoor environment To reach a goal bp avoiding obstacles, it is necessary not only to avoid collision but also to return to the original planned path. We propose an algorithm which can realize obstacle avoidance behavior considering blind space which arises from the limitation of field of view of the sensor system. We used a Fiber Grating 3D vision sensor in order to avoid obstacles considering 3D shape of objects. To realize real-time obstacle detection, we developed a fast image processing method. We show the effectiveness of our method through an experimental result using a real mobile robot.

本文言語English
ホスト出版物のタイトルIECON Proceedings (Industrial Electronics Conference)
出版社IEEE Computer Society
ページ1925-1930
ページ数6
1
DOI
出版ステータスPublished - 2000
外部発表はい

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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