A Dynamic Obstacle-Avoidance Path Planning Using A Single Camera for Mobile Robots

• Main Authors: I-Han Chen, 陳奕涵
• Other Authors: Wei-Yen Wang
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/93360799133176884056

碩士 === 國立臺灣師範大學 === 應用電子科技學系 === 101 === This thesis proposes a way to identify the image which is applied to the obstacle-detecting and path-planning of a wheeled mobile robot. First of all, we use some image processing methods including medium filter, morphologic processing, Canny edge detector, and connected component labeling to find the locations of obstacles. Then we use a parallel lines distance measuring method to detect the actual coordinates of the obstacles in the image. To set up the parallel lines distance measuring system in the experiment, we just need a single web camera and four juxtaposed points. Thus the setting of this experiment is relatively easy and the cost is lower. Finally, we combine the image identifying method with parallel lines distance measuring method to complete the path-planning of a wheeled mobile robot system. To design the path-planning, we have two methods including static and dynamic states. The static path-planning method is to set up a web camera on the ceiling and instantly transfer the images to a two-dimensional map as a basis of the wheeled mobile robot’s movements. The dynamic path-planning method is to set up the web camera on the wheeled mobile robot and make it plan the path which can avoid the obstacles simultaneously. By the experiments, the wheeled mobile robot can go smoothly and we can illustrate the feasibility of the proposed method.