loading
Documents

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Chau Nguyen Viet and Ian Marshall

Affiliation: University of Kent, United Kingdom

ISBN: 978-972-8865-83-2

Keyword(s): Obstacle-avoidance, robot vision.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: This paper presents a vision-based obstacle avoidance algorithm for a small indoor mobile robot built from low-cost, and off-the-shelf electronics. The obstacle avoidance problem in robotics has been researched extensively and there are many well established algorithms for this problem. However, most of these algorithms are developed for large robots with expensive, specialised sensors, and powerful computing platforms. We have developed an algorithm that can be implemented on very small robots with low-cost electronics and small computing platforms. Our vision-based obstacle detection algorithm is fast and works with very low resolution images. The control mechanism utilises both visual information and sonar sensor’s measurement without having to fuse the data into a model or common representation. The robot platform was tested in an unstructured office environment and demonstrated a reliable obstacle avoidance behaviour.

PDF ImageFull Text

Download
Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 54.87.61.215

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Nguyen Viet C.; Marshall I. and (2007). VISION-BASED OBSTACLE AVOIDANCE FOR A SMALL, LOW-COST ROBOT.In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 275-279. DOI: 10.5220/0001648302750279

@conference{icinco07,
author={Chau {Nguyen Viet} and Ian Marshall},
title={VISION-BASED OBSTACLE AVOIDANCE FOR A SMALL, LOW-COST ROBOT},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={275-279},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001648302750279},
isbn={978-972-8865-83-2},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - VISION-BASED OBSTACLE AVOIDANCE FOR A SMALL, LOW-COST ROBOT
SN - 978-972-8865-83-2
AU - Nguyen Viet, C.
AU - Marshall, I.
PY - 2007
SP - 275
EP - 279
DO - 10.5220/0001648302750279

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.