분야
기계
발행기관
Mario Sarcinelli-Filho, Hans Jorg Andreas Schneebeli, Eliete Maria de Oliveira Caldeira, Bruno Moreira Silva
발행일
2004/07/05
첨부파일
The use of optical flow to provide the sensorial information a mobile robot needs to navigate is addressed. An optical flow-based sensing subsystem is proposed to continuously detect obstacles, and a control subsystem is implemented to update the heading angle of the robot accordingly. All the computations are performed onboard the robot, due to the low memory and processing time demanded by the algorithms programmed, thus guaranteeing to the robot full autonomy. An experiment using such system is discussed, whose results validate the sensorial subsystem proposed.
Keywords: Computer vision, Optical flow, Mobile robots, Motion parameters, Obstacle avoidance.
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