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.
|出版物ステータス||Published - 2000 12 1|
ASJC Scopus subject areas
- Control and Systems Engineering
- Modelling and Simulation
- Computer Science Applications
- Electrical and Electronic Engineering