대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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- Pages.154-158
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- 2002
건물 복도의 비전기반로봇 주행
The Mobile Robot For Vision-Based Navigation In a Corridor
- Bae, Sung-Hoon (Dept. of Electronic Engineering, Kyunghee University) ;
- Choi, Kyung-Jin (Dept. of Electronic Engineering, Kyunghee University) ;
- Lee, Young-Hyun ;
- Park, Chong-Kug (Dept. of Electronic Engineering, Kyunghee University)
- 발행 : 2002.11.30
초록
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.
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