Vision based obstacle avoidance and target tracking for autonomous mobile robots

Masahiro Yamada, Chi Hsien Lin, Ming Yang Cheng

研究成果: Conference contribution

3 引文 斯高帕斯(Scopus)

摘要

This paper proposes a hierarchical switching strategy for mobile robots to detect obstacles and to track a given target using vision information only. In the proposed approach, the disparity image obtained from a stereo camera is used to build an obstacle map based on V-disparity. Color information and a self windowing technique are employed to track the target. A switching strategy based on a hierarchical architecture is employed to determine whether the mobile robot should perform obstacle avoidance or target tracking. To verify the effectiveness of the proposed approach, several experiments were conducted. The results indicate that the proposed approach is feasible.

原文English
主出版物標題AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
頁面153-158
頁數6
DOIs
出版狀態Published - 2010 六月 25
事件2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
持續時間: 2010 三月 212010 三月 24

出版系列

名字International Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
國家Japan
城市Nagaoka, Niigata
期間10-03-2110-03-24

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • 引用此

    Yamada, M., Lin, C. H., & Cheng, M. Y. (2010). Vision based obstacle avoidance and target tracking for autonomous mobile robots. 於 AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (頁 153-158). [5464007] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464007