Vision-based Obstacle Avoidance System for Autonomous Mobile Robot in Outdoor Environment

被引：0

作者：

Jung, Ji Eun ^{[1
]}

Lee, Kil Soo ^{[1
]}

Park, Hyung Gyu ^{[1
]}

Koh, Yung Ho ^{[2
]}

Bae, Jong Il ^{[3
]}

Lee, Man Hyung ^{[1
]}

机构：

[1] Pusan Natl Univ, Grad Sch Mech Engn, Pusan, South Korea

[2] Futronic Co Ltd, Hong Kong, Peoples R China

[3] Pukyong Natl Univ, Dept Elect Engn, Busan 608737, South Korea

来源：

INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2010) | 2010年

关键词：

Vision system; Autonomous mobile; obstacle avoidance;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we propose an obstacle avoidance system on based vision sensor for an autonomous mobile robot. For real-time turn angle correction, we obtain the state equation of a mobile robot from input-output continuous data. Each individual image pixel is classified as belonging either to an obstacle or to a non-obstacle based on its color property (HSI color model). The HSI color model is less sensitive to illumination changes than the RGB color model. According to proper conditions and reference zones, we chose a path area, a navigation point, and a turn angle. This method uses a single color camera.

引用

页码：2324 / 2327

页数：4

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