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Accession number;02A0585366
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| Title;Obstacle Avoidance for Mobile Robot Based on Omni-Directional Image and Mobile Velocity. |
| Author;
SEKIMORI DAISUKE
(Akashi Coll. of Technol.)
SUGIMOTO HIROKAZU
(Akashi Coll. of Technol.)
FUJIMOTO RYOHEI
(Akashi Coll. of Technol.)
USUI TOMOYA
(Osaka Univ.)
MASUTANI YASUHIRO
(Osaka Univ.)
MIYAZAKI FUMIO
(Osaka Univ.)
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Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu
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Journal Code:L0318A
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ISSN:
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VOL.2001;NO.Pt.3;PAGE.2A1.B4(1)-2A1.B4(2)(2001)
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| Figure&Table&Reference;FIG.3, REF.2 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;In this report, we focus obstacle avoidance for mobile robot with the omni-directional vision. Firstly we briefly explain the method of detecting free space in surrounding area of the robot based on floor region. Next we propose a method of obstacle avoidance based on detected free space and velocity of the robot. Finally we show the effectiveness of the algorithm through some experiments of the real robot conformed to the rule of RoboCup small-size league. (author abst.) |
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