Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2002.11c
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- Pages.154-158
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- 2002
The Mobile Robot For Vision-Based Navigation In a Corridor
건물 복도의 비전기반로봇 주행
- Bae, Sung-Hoon (Dept. of Electronic Engineering, Kyunghee University) ;
- Choi, Kyung-Jin (Dept. of Electronic Engineering, Kyunghee University) ;
- Lee, Young-Hyun ;
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Park, Chong-Kug
(Dept. of Electronic Engineering, Kyunghee University)
- Published : 2002.11.30
Abstract
This paper describes a path tracking method for vision-based and autonomous mobile robot in a corridor. At first, we extract the ceiling-lamp of the corridor through simple preprocessing (gray, thresholding, labeling, etc.) for robot position and orientation. Then, we design the controller for path-tracking. Simulations conducted, and acceptable vehicle localization results were obtained to prove the feasibility of the proposed approach.
Keywords