Control of a wheeled mobile robot with two image processing grades

Tamio Nakashima, Takahiro Yakoh, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a new method for trajectory planning of a mobile robot with 3D image processing. Recent advances of computer technology make it possible to realize a real time feedback of visual information in motion control system. In the almost all methods, it is assumed that environment and/or shape of obstacles are given. In the practical implementation, however, this assumption restricts the robot motion to realize a desired task. To address the above issue, this paper introduces Level Set Method (LSM) to recognize 3D shape of unknown obstacle. The proposed approach has a simplified image processing and is easily applicable to motion control of the mobile robot.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherIEEE
Pages586-589
Number of pages4
Publication statusPublished - 2000

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Motion control
Mobile robots
Image processing
Trajectories
Robots
Feedback
Control systems
Planning

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Nakashima, T., Yakoh, T., Murakami, T., & Ohnishi, K. (2000). Control of a wheeled mobile robot with two image processing grades. In International Workshop on Advanced Motion Control, AMC (pp. 586-589). IEEE.

Control of a wheeled mobile robot with two image processing grades. / Nakashima, Tamio; Yakoh, Takahiro; Murakami, Toshiyuki; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. IEEE, 2000. p. 586-589.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nakashima, T, Yakoh, T, Murakami, T & Ohnishi, K 2000, Control of a wheeled mobile robot with two image processing grades. in International Workshop on Advanced Motion Control, AMC. IEEE, pp. 586-589.
Nakashima T, Yakoh T, Murakami T, Ohnishi K. Control of a wheeled mobile robot with two image processing grades. In International Workshop on Advanced Motion Control, AMC. IEEE. 2000. p. 586-589
Nakashima, Tamio ; Yakoh, Takahiro ; Murakami, Toshiyuki ; Ohnishi, Kouhei. / Control of a wheeled mobile robot with two image processing grades. International Workshop on Advanced Motion Control, AMC. IEEE, 2000. pp. 586-589
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