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ID 33074
フルテキストURL
著者
Gofuku, Akira Okayama University
Tanaka, Yutaka Okayama University
Soda, Hiroyoshi Okayama University
抄録

This paper describes an improved running control algorithm based on the visual servoing in consideration of the turning back of a running path to avoid an obstacle on the path by changing the running path. This paper also describes an experimental autonomous running vehicle to demonstrate the algorithm. As a vision sensor, the vehicle equips with a video-rate stereo rangefinder which processes color images from stereo CCD cameras and is developed in the authors' laboratory. From the several basic autonomous running experiments, it is concluded that the experimental vehicle runs smoothly any planned path composed of several teaching routes by transferring routes. It is also concluded that the vehicle can turn back on a path including turning back of route transference

キーワード
CCD image sensors
distance measurement
mobile robots
path planning
robot vision
servomechanisms
stereo image processing
備考
Digital Object Identifier: 10.1109/MMVIP.1997.625301
Published with permission from the copyright holder. This is the institute's copy, as published in Mechatronics and Machine Vision in Practice, 1997. Proceedings., Fourth Annual Conference on, 23-25 Sept. 1997, Pages 106-111.
Publisher URL:http://dx.doi.org/10.1109/MMVIP.1997.625301
Copyright © 1997 IEEE. All rights reserved.
発行日
1997-09-23
出版物タイトル
Mechatronics and Machine Vision in Practice
開始ページ
106
終了ページ
111
資料タイプ
学術雑誌論文
言語
English
査読
有り
DOI
Submission Path
mechanical_engineering/29