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A Vision Based System for Goal-Directed Obstacle Avoidance [chapter]

Jan Hoffmann, Matthias Jüngel, Martin Lötzsch
2005 Lecture Notes in Computer Science  
We present a complete system for obstacle avoidance for a mobile robot. It was used in the RoboCup 2003 obstacle avoidance challenge in the Sony Four Legged League.  ...  The system enables the robot to detect unknown obstacles and reliably avoid them while advancing toward a target. It uses monocular vision data with a limited field of view.  ...  While being a well studied field, it remains a challenging task to build a robust obstacle avoidance system for a robot using vision data.  ... 
doi:10.1007/978-3-540-32256-6_35 fatcat:r52vbdpoufc63ou2lziwressou

A Framework for Obstacles Avoidance of Humanoid Robot Using Stereo Vision

Widodo Budiharto, Jurike Moniaga, Meiliana Aulia, Alvina Aulia
2013 International Journal of Advanced Robotic Systems  
The contribution of this research is a new method for multiple moving obstacles avoidance strategy with Bayesian approach using stereo vision based on the direction and speed of obstacles.  ...  In this paper, we propose a framework for multiple moving obstacles avoidance strategy using stereo vision for humanoid robot in indoor environment.  ...  Figure 7 . 7 A Navigation system and Multiple moving obstacles avoidance strategy for vision-based humanoid robot using stereo camera. Figure 8 . 8 A flowchart for moving obstacles detection.  ... 
doi:10.5772/55608 fatcat:4acreoc62ncoxnef5jj6l5rwty

A Behaviour-Based Architecture for Mapless Navigation Using Vision

Mehmet Serdar Guzel, Robert Bicker
2012 International Journal of Advanced Robotic Systems  
For a mobile robot in a cluttered environment to navigate successfully to a goal while avoiding obstacles is a challenging problem.  ...  A novel method, inspired from a visual homing strategy, is adapted to a monocular vision-based system to overcome goal-based navigation problems.  ...  algorithm Figure 3 . 3 FSM for vision-based behaviours Figure 4 .Figure 5 . 45 The characteristics of the obstacle avoidance behaviour The state diagram for obstacle avoidance behaviour For the  ... 
doi:10.5772/46200 fatcat:ou2qj2gu4fadnk6u2ys3cr3gye

Collision Avoidance in Multi-Robot Systems

Chengtao Cai, Chunsheng Yang, Qidan Zhu, Yanhua Liang
2007 2007 International Conference on Mechatronics and Automation  
We developed a step-forward approach for collision avoidance in multi-robot systems, building on the established techniques from omnidirectional vision systems, automatic control, and dynamic programming  ...  The developed collision avoidance algorithms can help avoid the collision from any static obstacles and any dynamic objects such as a moving robot.  ...  In this work, we focus on an approach for multirobot systems. Building on techniques from sensor, automatic control, and omni-directional vision systems, we developed a step-forward approach.  ... 
doi:10.1109/icma.2007.4304002 fatcat:h434pqud7falppkhvpo7wr5thi

Multiple Moving Obstacles Avoidance of Service Robot using Stereo Vision

Widodo Budiharto, Ari Santoso, Djoko Purwanto, Achmad Jazidie
2011 TELKOMNIKA (Telecommunication Computing Electronics and Control)  
Abstract In this paper, we propose a multiple moving obstacles avoidance using stereo vision for service robots in indoor environments.  ...  To overcome the inaccuracies of vision sensor, Bayesian approach is used for estimate the absense and direction of obstacles.  ...  Flowchart of A Navigation system and Multiple moving obstacles avoidance method for vision-based service robot using stereo camera.  ... 
doi:10.12928/telkomnika.v9i3.733 fatcat:tcabvsubnbatbmvikyh3h6g5t4

Obstacle Avoidance of Mobile Robot Based on Behavior Hierarchy by Fuzzy Logic

Tae-Seok Jin
2012 International Journal of Fuzzy Logic and Intelligent Systems  
The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance.  ...  In this paper, we propose a navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments using an ultrasonic sensor.  ...  Avoid-obstacle and Minimizerotation are self-explanatory. The go-to behavior will direct a robot to navigate along a straight line trajectory to a goal position.  ... 
doi:10.5391/ijfis.2012.12.3.245 fatcat:76thhyvc65fbtllkepang4qhe4

Stereo vision-based obstacle avoidance for micro air vehicles using an egocylindrical image space representation

R. Brockers, A. Fragoso, L. Matthies, Thomas George, Achyut K. Dutta, M. Saif Islam
2016 Micro- and Nanotechnology Sensors, Systems, and Applications VIII  
Stereo vision-based obstacle avoidance for micro air vehicles using an egocylindrical image space representation R. Brockers, A. Fragoso, L. Matthies R. Brockers, A. Fragoso, L.  ...  Matthies, "Stereo vision-based obstacle avoidance for micro air vehicles using an egocylindrical image space representation," Proc.  ...  Given a goal direction, a simple egocylinder search produces a flight direction that heads closest to the goal while avoiding collisions within the planning horizon ( Figure 2 ).  ... 
doi:10.1117/12.2224695 fatcat:2rhx52ybr5gc5kilwbkxidncua


Pierre Sermanet, Raia Hadsell, Jan Ben, Ayse Naz Erkan, Beat Flepp, Urs Muller, Yann LeCun
2007 IFAC Proceedings Volumes  
We first report experimental results on the resolution-period trade-off with a stereo vision-based navigation system implemented on the LAGR mobile robot platform.  ...  The performance of vision-based navigation systems for off-road mobile robots depends crucially on the resolution of the camera, the sophistication of the visual processing, the latency between image and  ...  The goal is also 90 degrees away, so that the robot will turn right into the obstacle and avoid it or not depending on how fast it reacts to new obstacles. • To test long range vision, a cul-de-sac of  ... 
doi:10.3182/20070903-3-fr-2921.00052 fatcat:io2wxxunfrg5djuc5zbnnzu36u

A portable, autonomous, urban reconnaissance robot

L Matthies, Y Xiong, R Hogg, D Zhu, A Rankin, B Kennedy, M Hebert, R Maclachlan, C Won, T Frost, G Sukhatme, M McHenry (+1 others)
2002 Robotics and Autonomous Systems  
Autonomous navigation capabilities of the robot include stereo vision-based obstacle avoidance, visual servoing to user-designated goals, and autonomous vision-guided stair climbing.  ...  A two-axis scanning laser rangefinder has been developed and will be integrated in the coming year for indoor mapping and position estimation.  ...  These capabilities include stereo vision-based obstacle avoidance at up to 80 cm/sec, visual servoing to goals, and vision-guided ascent of multiple flights of stairs.  ... 
doi:10.1016/s0921-8890(02)00241-5 fatcat:j2mtveyjqbf2fblcpu6weyeu24

Mobile robot visual navigation based on fuzzy logic and optical flow approaches

Mohamed Nadour, Mohamed Boumehraz, Lakhmissi Cherroun, Vicenç Puig
2019 International Journal of Systems Assurance Engineering and Management  
The proposed control system contains two Takagi-Sugeno fuzzy logic controllers for obstacle avoidance and goal seeking based on video acquisition and image processing algorithm.  ...  Simulation results demonstrate that the visual based control system allows autonomous navigation without any collision with obstacles.  ...  Goal seeker In the case of navigation toward a desired destination (goal), the robot must have the capacity to move in the direction of the goal with obstacle avoidance task.  ... 
doi:10.1007/s13198-019-00918-2 fatcat:a53sh5bxdvhproszumvrko5zoa

Design and Implementation of an Autonomous Robot Soccer System

Ching-Chang Wong, Chi-Tai Cheng, Hsiang-Min Chan
2013 International Journal of Advanced Robotic Systems  
A design and implementation method of a robot soccer system with three vision-based autonomous robots is proposed in this paper.  ...  A method based on data obtained from a compass and a vision sensor is proposed to determine the location of the robot on the field.  ...  Figure 2 shows the CAD model for a vision-based autonomous robot.  ... 
doi:10.5772/56189 fatcat:es6cxublvfhcvmw7gh5vl3tm5m

Intelligent System based on Command Fusion and Fuzzy Logic Approaches - Application to mobile robot navigation
명령융합과 퍼지기반의 지능형 시스템-이동로봇주행적용

Taeseok Jin, Hyun-Deok Kim
2014 The Journal of the Korean Institute of Information and Communication Engineering  
The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance.  ...  This paper propose a fuzzy inference model for obstacle avoidance for a mobile robot with an active camera, which is intelligently searching the goal location in unknown environments using command fusion  ...  ) Direction and velocity for robot navigation A fuzzy control algorithm for both obstacle avoidance and path planning has been implemented in experiment so that it enables the mobile robot to reach to  ... 
doi:10.6109/jkiice.2014.18.5.1034 fatcat:ekoh4njoxnhplj33gmeb465b4e

Designing Vision Based Autonomous Docile-X Mobile Robot for Real-time Application to Soccer Behaviors

Vibekananda Dutta, Nishtha Kesswani
2014 Journal of Automation, Mobile Robotics & Intelligent Systems  
Moreover, a control structure is designed and several behaviors for a soccer robot are proposed. Image processing, recognition and target following algorithm are illustrated through experiments.  ...  This paper aims at developing a real-time, robust, and reliable behaviors for an omnidirectional soccer robot, can be used in crowded dynamically-changing environments.  ...  In the vision-based system, the robots should have functions such as speed control, position control, obstacle avoidance and so on.  ... 
doi:10.14313/jamris_4-2014/36 fatcat:luyl5sqyijg7ddb52fs4ywdul4

A New Obstacle Avoidance Method for Service Robots in Indoor Environments

Widodo Budiharto, Ari Santoso, Djoko Purwanto, Achmad Jazidie
2012 ITB Journal of Engineering Science  
The main aim of this research is to provide a complete mechanism for obstacle avoidance by a vision-based service robot, whereas popular obstacle avoidance methods such as PVM do not provide such a feature  ...  The speed, direction and distance of the moving obstacle are measured by using vision and distance sensors in order for the robot to make a maneuver.  ...  VFH is a fast obstacle avoidance method based on a polar histogram of obstacles that provides directions for safe travel.  ... 
doi:10.5614/itbj.eng.sci.2012.44.2.4 fatcat:qymhi4h2dfeqrjruqp4tllgomu

Position and Obstacle Avoidance Algorithm in Robot Soccer

2010 Journal of Computer Science  
This part is responsible for realizing soccer skills such as movement, shoot and goal keeping. The formulation of position and obstacle avoidance was based on mathematical approach.  ...  The functions for shooting, movement and obstacle avoidance had been successfully implemented.  ...  Fig. 1 shows a high-level system block diagram of autonomous robot systems: • The vision system records data on the robot and obstacle positions • The strategy system decides where the robots should move  ... 
doi:10.3844/jcssp.2010.173.179 fatcat:vbz4tm3sjzdqbm6ytkgs5uojpi
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