Dynamic path planning of mobile robot mounted range sensors and single CCD camera

Authors:
Satoru Takahashi;Shunsuke Nara
Affiliations:
Department of Intelligent Mechanical Systems Engineering, Kagawa University, Takamatsu-City, Japan;Nara Electric Heavy Industries, Ltd., Takamatsu, Kagawa, Japan
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 3
Cited 0

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Brief A hybrid control approach to action coordination for mobile robots

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Abstract

This paper treats a trajectory tracking control of a mobile robot by a single CCD camera and range sensors. First, the mobile robot detects the obstacle based on information of both the image and the distance. And then, from the obstacle information, the mobile robot generates a trajectory to avoid the obstacle. Finally, the usefulness of our proposed methods is demonstrated through experiment.