동적 물체의 비전 검출을 통한 이동로봇의 장애물 회피Mobile Robot Obstacle Avoidance using Visual Detection of a Moving Object
- Other Titles
- Mobile Robot Obstacle Avoidance using Visual Detection of a Moving Object
- Authors
- 김인권; 송재복
- Issue Date
- 2008
- Publisher
- 한국로봇학회
- Keywords
- real-time obstacle avoidance; moving object detection; motion vector; mobile robot
- Citation
- 로봇학회 논문지, v.3, no.3, pp.212 - 218
- Journal Title
- 로봇학회 논문지
- Volume
- 3
- Number
- 3
- Start Page
- 212
- End Page
- 218
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/125199
- ISSN
- 1975-6291
- Abstract
- Collision avoidance is a fundamental and important task of an autonomous mobile robot for
safe navigation in real environments with high uncertainty. Obstacles are classified into static and
dynamic obstacles. It is difficult to avoid dynamic obstacles because the positions of dynamic obstacles
are likely to change at any time. This paper proposes a scheme for vision-based avoidance of dynamic
obstacles. This approach extracts object candidates that can be considered moving objects based on the
labeling algorithm using depth information. Then it detects moving objects among object candidates
using motion vectors. In case the motion vectors are not extracted, it can still detect the moving objects
stably through their color information. A robot avoids the dynamic obstacle using the dynamic window
approach (DWA) with the object path estimated from the information of the detected obstacles. The
DWA is a well known technique for reactive collision avoidance. This paper also proposes an algorithm
which autonomously registers the obstacle color. Therefore, a robot can navigate more safely and
efficiently with the proposed scheme.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.