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This paper introduces a control method for obstacle avoidance of a mobile robot. First, the mobile robot detects obstacles by information of both a CCD camera and ultrasonic sensors. Then, using information of both of camera and sensors, the mobile robot generates a dynamic trajectory to go to the goal point avoiding the obstacles. Through some experiments, a usefulness of proposed method is shown.
The image processing technique of optical flow is very useful for recognition of objects moving in captured images. This paper describes a way for generating optical flow from colored images. The colored image provides more rich information for the object recognition than the gray scaled one. In our approach, RGB data in the captured colored images are converted to the color vectors. The simultaneous...
This paper proposes an image feature based navigation method for active camera mounted mobile robots that are affected by nonholonomic constraint. Since visual servo used for usual manipulators can't be applied to the nonholonomic mobile robots as it is, visual servo is applied to tracking control of the active camera to track targets in the center of image plane. Moreover, posture of nonholonomic...
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