Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Path Design Method of Mobile Robot for Obstacle Avoidance Using Ceiling- mounted Camera System and Its Implementation

천장설치형 카메라 시스템을 사용한 장애물 회피용 이동 로봇의 경로설계법과 그 구현

  • 트란안킴 (부경대학교 기계공학과 대학원) ;
  • 김광주 (부경대학교 기계공학과 대학) ;
  • 중탄람 (부경대학교 기계공학과 대학) ;
  • 김학경 (부경대학교 기계공학) ;
  • 김상봉 (부경대학교 기계공학부)
  • Published : 2004.08.01
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Abstract

In this paper, implementation of obstacle avoidance of a nonholonomic mobile robot in unstructured environment is introduced. To avoid obstacles, first, a reference collision-free path for the MR is generated off-line using HJB-based optimal path planning method. A controller is designed using integrator backstepping method for tracking the generated reference path. To implement the designed controller, a control system are needed and composed of camera system and PIC-based controller. The workspace is observed by a ceiling-mounted USB camera as part of an un-calibrated camera system. Thus the positional information of the MR is updated frequently and the MR can get the useful inputs for its tracking controller. The whole control system is realized by integrating a computer with PIC-based microprocessor using wireless communication: the image processing control module and path planning module serve as high level computer control while the device control serves as low level PIC microprocessor control. The simulation and experimental results show the effectiveness of the designed control system.

Keywords

References

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