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- 저자 : Altokhais (검색결과 2 건)
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Vision-Based Corridor Path Search of a Mobile Robot
Yeoun-Jae Kim,Joon-Yong Lee,Majed S. Aldosari,Mazin S. Altokhais,Ju-Jang Lee 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
In this paper, We made an algorithm for a mobile robot to determine direction normal to the wall with two cameras in an indoor environment without any direction-notification marks. Furthermore, with this direction determination ability, made a method with which a mobile robot can navigate and search through an indoor corridor path without any predefined map information is made. the direction determination scheme uses Hough transform and horizontal line search. While the path search algorithm uses SIFT(Scale-Invariant Feature Transformation), 3D reconstruction and binary search tree algorithm. In the direction determination stage, the mobile robot detects lines in the image and detects horizontal lines to determine the normal to the wall direction. After the direction determination stage is completed, the robot determines the corridor path range through SIFT, RANSAC algorithm, and 3D reconstruction, and finally navigates through its pathway. The direction determination and navigation stage constitutes the binary search tree algorithm. After searching through all its pathway in the indoor environment, the robot returns to its original position with various corridor position information.
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Semi-Optimal Path Generation using Intelligent Optimization
Kyung Woon Kwak,Yoon Keun Kwak,Soohyun Kim,Mazin S. Altokhais,Majed S. Aldosari 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
A semi-optimal path generation method of UGV (Unmanned Ground Vehicle) on real-time environment is proposed and demonstrated through MATLAB simulations and tested by using tri-wheeled mobile robot. A narrow corridor like environment is considered as a simulation. For each step of UGV movement, two objectives are considered: First is to minimize the distance to the target and second to drive the UGV keeping away from the obstacles. A weighted objective function is used in the optimization problem. Equality and inequality constraints are taken to secure the UGV"s dynamics and safety. The weighting factors are controlled by a fuzzy controller which is constructed by a fuzzy rule set and membership functions. Simulations are performed for messy environment and narrow corridor like case. The results are satisfactory for realistic situations considered and also simple indoor experiments are performed. The proposed semi-optimal path generation method with the fuzzy controller is expected to be well applicable to real environment.
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