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http://dx.doi.org/10.5391/JKIIS.2012.22.2.187

Safe Climbing Path Planning by Image Processing  

Yeom, Dong-Hae (군산대학교 PostBK21사업팀)
Kim, Jong-Sun (군산대학교 제어로봇공학과)
Joo, Young-Hoon (군산대학교 제어로봇공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.22, no.2, 2012 , pp. 187-191 More about this Journal
Abstract
This paper deals with a safe climbing path planning for unmanned automatic vehicles. Unlike the existing path planning schemes, the safety is the highest priority for our approach. To achieve this, the global potential field which includes a dangerous zone as well a given terrain information is generated, and the way-points are determined by using image processing such as the erosion operation. The proposed method can reduce the computation effort and the amount of information, and provide the safe climbing path which is similar to human's intuition.
Keywords
Path planning; potential field; way-points; erosion operation; hairpin curve;
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