제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Mobile Robot Driving using Moving Window

  • Choi, Sung-Yug (Research Inst. of Computer Information & Communication, Pusan National University) ;
  • Kang, Jin-Gu (Department of Electrical Engineering, Keukdong College) ;
  • Hur, Hwa-Ra (Department of Electrical Engineering, Songho College) ;
  • Ju, Jin-Hwa (Department of Electrical Engineering, Osan College)
  • Published : 2003.10.22
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Abstract

This paper introduces a method that can detect obstacles and corridor environments from the images captured by a CCD camera in an automobile or mobile robot is proposed. Processing the input dynamic images in real time requires high performance hardware as well as efficient software. In order to relieve these requirements for detecting the useful information from the images in real time, a "Moving Window" scheme is proposed. Therefore, detecting the useful information, it becomes possible to search the obstacles within the driving corridor of an automobile or mobile robot. The feasibility of the proposed algorithm is demonstrated through the simulated experiments of the corridor driving.

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