제어로봇시스템학회:학술대회논문집

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

A vision based mobile robot travelling among obstructions

  • Ishigawa, Seiji (Department of Computer Engineering, Kyushu Institute of Technology, Tobata, Kitakyushu, 804 Japan) ;
  • Gouhara, Kouichi (Department of Computer Engineering, Kyushu Institute of Technology, Tobata, Kitakyushu, 804 Japan) ;
  • Kouichi-Ide (Department of Computer Engineering, Kyushu Institute of Technology, Tobata, Kitakyushu, 804 Japan) ;
  • Kato, Kiyoshi (Department of Computer Engineering, Kyushu Institute of Technology, Tobata, Kitakyushu, 804 Japan)
  • 발행 : 1988.10.01
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초록

This paper presents a mobile robot that travels employing visual information. The mobile robot is equipped solely with a TV camera as a sensor, and views from the TV camera are transferred to a separately installed micro computer through an image acquisition device. An acquired image of a view is processed there and the information necessary for travel is yielded. Instructions based on the information are then sent from the micro computer to the mobile robot, which causes the mobile robot next action. Among several application programs that have already been developed for the mobile robot other than the entire control program, this paper focuses its attention on the travelling control of the mobile robot in a model environment with obstructions as well as an overview of the whole system. The behaviour the present mobile robot takes when it travels among obstructions was investigated by an experiment, and satisfactory results were obtained.

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