Study on Obstacle Avoidance and Target Tracking for An Autonomous Mobile Robot Equipped with a Stereo Camera and an Omni Directional Camera

• Main Authors: Masahiro Yamada, 山田真弘
• Other Authors: Ming-Yang Cheng
• Format: Others
• Language: en_US
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/14779498552447798859

碩士 === 國立成功大學 === 電機工程學系碩博士班 === 96 === This thesis proposes a hierarchical switching strategy for a mobile robot to detect obstacles and to track a given target. In the proposed approach, the depth image obtained from a stereo camera is used to build an obstacle map based on V-Disparity. Color information and a Self Windowing technique are employed to track the target. A switching strategy based on a hierarchical architecture is employed to determine whether the mobile robot should perform obstacle avoidance or target tracking. To verify the effectiveness of the proposed approach, several experiments were conducted. The results indicate that the proposed approach is feasible.