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ID 33074
FullText URL
Author
Gofuku, Akira
Tanaka, Yutaka
Soda, Hiroyoshi
Abstract

This paper describes an improved running control algorithm based on the visual servoing in consideration of the turning back of a running path to avoid an obstacle on the path by changing the running path. This paper also describes an experimental autonomous running vehicle to demonstrate the algorithm. As a vision sensor, the vehicle equips with a video-rate stereo rangefinder which processes color images from stereo CCD cameras and is developed in the authors' laboratory. From the several basic autonomous running experiments, it is concluded that the experimental vehicle runs smoothly any planned path composed of several teaching routes by transferring routes. It is also concluded that the vehicle can turn back on a path including turning back of route transference

Keywords
CCD image sensors
distance measurement
mobile robots
path planning
robot vision
servomechanisms
stereo image processing
Note
Digital Object Identifier: 10.1109/MMVIP.1997.625301
Published with permission from the copyright holder. This is the institute's copy, as published in Mechatronics and Machine Vision in Practice, 1997. Proceedings., Fourth Annual Conference on, 23-25 Sept. 1997, Pages 106-111.
Publisher URL:http://dx.doi.org/10.1109/MMVIP.1997.625301
Copyright © 1997 IEEE. All rights reserved.
Published Date
1997-09-23
Publication Title
Mechatronics and Machine Vision in Practice
Start Page
106
End Page
111
Content Type
Journal Article
language
英語
Refereed
True
DOI
Submission Path
mechanical_engineering/29