Proceedings of the IEEK Conference (대한전자공학회:학술대회논문집)

The Institute of Electronics and Information Engineers (대한전자공학회)
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The Obstacle Avoidance and Path Planning Algorithm for Self Controlled Mobile Robot Using Image Information

영상정보를 이용한 자율 이동 로봇의 장애물 회피 및 경로계획에 대한 알고리즘

  • 구본민 (창원대학교 전자공학과 산업전자제어연구실) ;
  • 최중경 (창원대학교 전자공학과 산업전자제어연구실) ;
  • 류한성 (창원대학교 전자공학과 산업전자제어연구실) ;
  • 박무열 (창원대학교 전자공학과 산업전자제어연구실) ;
  • 윤석영 (거창 전문대학)
  • Published : 2001.06.01
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Abstract

In this paper, we has been studied self controlled mobile robot system with CCD camera. This system consists of TMS320F240 digital signal processor, step motor, RF module and CCD camera. we used wireless RF module for movable command transmitging between robot and host PC. This robot go straight until 95 percent filled screen from input image. And the robot recognizes obstacle about 95 percent filled something, so it could avoid the obstacle and conclude new path plan.

Keywords