Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Skeleton-Based Local-Path Planning for a Mobile Robot with a Vision System

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  • Kwon, Ji-Wook (Department of Electrical and Computer Engineering, Ajou Universty) ;
  • Yang, Dong-Hoon (Department of Electrical and Computer Engineering, Ajou Universty) ;
  • Hong, Suk-Kyo (Department of Electrical and Computer Engineering, Ajou Universty)
  • 권지욱 (아주대학교 전자공학과) ;
  • 양동훈 (아주대학교 전자공학과) ;
  • 홍석교 (아주대학교 전자공학과)
  • Published : 2006.07.12
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Abstract

This paper proposes a local path-planning algorithm that enables a mobile robot with vision sensor in a local area.The proposed method based on projective geometry and a wavefront method finds local-paths to avoid collisions using 3-D walls or obstacles map generated using projective geometry. Simulation results show the feasibility of the proposed method

Keywords