NDLI: Real-time target tracking and obstacle avoidance for mobile robots using two cameras

Content Provider	IEEE Xplore Digital Library
Author	Chan-Hong Chao Bo-Yan Hsueh Ming-Ying Hsiao Shun-Hung Tsai Li, T.-H.S.
Copyright Year	2009
Description	Author affiliation: Department of Electrical Engineering, National Cheng Kung University, Tainan, Taiwan, R.O.C. (Chan-Hong Chao; Bo-Yan Hsueh; Ming-Ying Hsiao; Shun-Hung Tsai; Li, T.-H.S.)
Abstract	This paper proposes an image processing approach for real-time target tracking and obstacle avoidance for mobile robot navigation in an indoor environment using two cameras. Several image processing techniques which include the averaging filter, edge-detection, erosion and dilation, and color segmentation are combined to find the target and obstacles. Then one can compute the angular position of the detected target and obstacle related to the mobile robot. The two cameras are utilized to calculate the relative distance of the target and obstacle from the mobile robot. According to the distance, one can determine the relationship of the target and obstacle to the mobile robot. The best target tracking path and obstacle avoidance path can be determined by different behavior modes. Therefore, the mobile robot plans a collision-free and successful track target to complete the patrol routine. Finally, the practical experiments demonstrate the feasibility and effectiveness of the proposed schemes.
Starting Page	4347
Ending Page	4352
File Size	1183136
Page Count	6
File Format	PDF
ISBN	9784907764340
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-08-18
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	SICE
Subject Keyword	Target tracking Mobile robots Robot vision systems Cameras Image processing Navigation Indoor environments Filters Image edge detection Color Fuzzy control Mobile robot Obstacle avoidance
Content Type	Text
Resource Type	Article

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