대한전자공학회:학술대회논문집 (Proceedings of the IEEK Conference)

대한전자공학회 (The Institute of Electronics and Information Engineers)
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영상 처리를 통한 자율 이동로봇의 장애물 회피

Obstacle Avoidance of an Autonomous Mobile Robot Using Image Processing

  • 이규윤 (동국대학교 전자공학과) ;
  • 김주웅 (동국대학교 전자공학과) ;
  • 임중규 (동국대학교 전자공학과) ;
  • 엄기환 (동국대학교 전자공학과)
  • Lee, Kyu-Yun (Department of Electronic Engineering Dongguk University) ;
  • Kim, Joo-Woong (Department of Electronic Engineering Dongguk University) ;
  • Lim, Joong-Kyu (Department of Electronic Engineering Dongguk University) ;
  • Eom, Ki-Hwan (Department of Electronic Engineering Dongguk University)
  • 발행 : 2006.06.21
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초록

In this paper, we implemented the autonomous mobile robot which can recognize and avoid obstacles, then move to its destination using a camera and ultrasonic sensors. The mobile robot can avoid both stationary obstacles with a camera and moving obstacles with ultrasonic sensors. It can find the self-location with the map-based system, that is, it attempts to localize by collecting sensor data, then updating some belief about its position with respect to a map of the environment.

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