NDLI: Vision-based path planning for the rotation control of unicycle robot

Content Provider	IEEE Xplore Digital Library
Author	Jongmyung Hwang Sungha Kim Jangmyung Lee
Copyright Year	2010
Description	Author affiliation: Intelligent Robot Laboratory, School of Electrical Engineering, Pusan National University, Busan 609-735, Korea (Jangmyung Lee) \|\| Intelligent Robot Laboratory, School of Electrical Engineering, Pusan National University, Busan 609-735 (Jongmyung Hwang; Sungha Kim)
Abstract	To control the trajectory of the unicycle robot, the CCD camera has been utilized for detecting the lanes for the robot. Conventional unicycle robot can control the posture while it is moving forward and backward with a certain velocity. However it is not capable of controlling the direction to follow a given lane or to avoid an obstacle. Our proposed unicycle robot is equipped with a rotational disk to change the direction. This paper proposes a new line detecting algorithm image processing method of unicycle robot. Mask scanning method was applied to line detecting algorithm. Furthermore, unicycle robot has many fluctuations and variations. As an inevitable consequence for these conditions, there are some errors according to the position change of CCD camera of unicycle robot during line detection. To compensate these errors, homography rotation and distance compensation was used. For the results of this algorithm, unicycle robot can be operated in stable.
Starting Page	1408
Ending Page	1412
File Size	598190
Page Count	5
File Format	PDF
ISBN	9781424480319
e-ISBN	9781424480326
DOI	10.1109/AIM.2010.5695854
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-07-06
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Robot vision systems Cameras Mobile robots Charge coupled devices Real time systems
Content Type	Text
Resource Type	Article

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