Vision-based heading angle estimation for an autonomous mobile robots navigation
Autonomous mobile robots navigation and control systems are still hugely important in real time robotic applications. When moving towards fully autonomous navigation, guidance plays a vital task for successful autonomous navigation. In this paper, the authors propose real time guidance fuzzy logic a...
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| مؤلفون آخرون: | , , |
| التنسيق: | article |
| اللغة: | الإنجليزية |
| منشور في: |
2018
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| الموضوعات: | |
| الوصول للمادة أونلاين: | https://ieeexplore.ieee.org/abstract/document/6864917/ http://ridda2.utp.ac.pa/handle/123456789/5089 |
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| _version_ | 1869652461619249152 |
|---|---|
| author | Cáceres Hernández, Danilo |
| author2 | Dung Hoang, Van Filonenko, Alexander Hyun Jo, Kang |
| author2_role | author author author |
| author_browse | Cáceres Hernández, Danilo Dung Hoang, Van Filonenko, Alexander Hyun Jo, Kang |
| author_facet | Cáceres Hernández, Danilo Dung Hoang, Van Filonenko, Alexander Hyun Jo, Kang |
| author_role | author |
| collection | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| dc.creator.none.fl_str_mv | Cáceres Hernández, Danilo Dung Hoang, Van Filonenko, Alexander Hyun Jo, Kang |
| dc.date.none.fl_str_mv | 07/01/2014 07/01/2014 2018-06-29T20:59:25Z 2018-06-29T20:59:25Z 2018-06-29T20:59:25Z 2018-06-29T20:59:25Z |
| dc.format.none.fl_str_mv | application/pdf text/html |
| dc.identifier.none.fl_str_mv | https://ieeexplore.ieee.org/abstract/document/6864917/ 2163-5145 http://ridda2.utp.ac.pa/handle/123456789/5089 http://ridda2.utp.ac.pa/handle/123456789/5089 |
| dc.language.none.fl_str_mv | eng |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/embargoedAccess |
| dc.source.none.fl_str_mv | reponame:Repositorio Institucional de documento digitales de acceso abierto de la UTP instname:Universidad Tecnológica de Panamá instacron:U Tecnológica de Panamá |
| dc.subject.none.fl_str_mv | Navigation Image segmentation Robot sensing systems Mobile robots Image color analysis Cameras Navigation Image segmentation Robot sensing systems Mobile robots Image color analysis Cameras |
| dc.title.none.fl_str_mv | Vision-based heading angle estimation for an autonomous mobile robots navigation |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion |
| description | Autonomous mobile robots navigation and control systems are still hugely important in real time robotic applications. When moving towards fully autonomous navigation, guidance plays a vital task for successful autonomous navigation. In this paper, the authors propose real time guidance fuzzy logic application based on edge and color information surrounding the road surface by using omnidirectional cameras. Autonomous navigation systems must be able to recognize feature descriptors from both edge and color information. Firstly, it was proposed to extract the longest segments of lines from the above mentioned methods. Secondly, RANdom SAmple Consensus (RANSAC) curve fitting method was implemented for detecting the best curve fitting given the data set of points for each line segment. Thirdly, the set of intersection points for each pair of curves were extracted. Fourthly, the Density-based spatial clustering of applications with noise (DBSCAN) method was used in estimating the vanishing point (VP). Finally, to control the mobile robot in an unknown environment, a fuzzy logic controller facilitated by the VP was implemented. Preliminary results were gathered and tested on a group of consecutive frames undertaken at the University of Ulsan (UoU) to prove their effectiveness. |
| eu_rights_str_mv | embargoedAccess |
| format | article |
| id | lrtest_453ba36ffd5e43b33ba630eaac7b0788 |
| identifier_str_mv | 2163-5145 |
| instacron_str | U Tecnológica de Panamá |
| institution | U Tecnológica de Panamá |
| instname_str | Universidad Tecnológica de Panamá |
| language | eng |
| network_acronym_str | lrtest |
| network_name_str | lr |
| oai_identifier_str | oai:ridda2.utp.ac.pa:123456789/5089 |
| publishDate | 2018 |
| publishDateSort | 2018 |
| reponame_str | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| repository.mail.fl_str_mv | |
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| spelling | Vision-based heading angle estimation for an autonomous mobile robots navigationCáceres Hernández, DaniloDung Hoang, VanFilonenko, AlexanderHyun Jo, KangNavigationImage segmentationRobot sensing systemsMobile robotsImage color analysisCamerasNavigationImage segmentationRobot sensing systemsMobile robotsImage color analysisCamerasAutonomous mobile robots navigation and control systems are still hugely important in real time robotic applications. When moving towards fully autonomous navigation, guidance plays a vital task for successful autonomous navigation. In this paper, the authors propose real time guidance fuzzy logic application based on edge and color information surrounding the road surface by using omnidirectional cameras. Autonomous navigation systems must be able to recognize feature descriptors from both edge and color information. Firstly, it was proposed to extract the longest segments of lines from the above mentioned methods. Secondly, RANdom SAmple Consensus (RANSAC) curve fitting method was implemented for detecting the best curve fitting given the data set of points for each line segment. Thirdly, the set of intersection points for each pair of curves were extracted. Fourthly, the Density-based spatial clustering of applications with noise (DBSCAN) method was used in estimating the vanishing point (VP). Finally, to control the mobile robot in an unknown environment, a fuzzy logic controller facilitated by the VP was implemented. Preliminary results were gathered and tested on a group of consecutive frames undertaken at the University of Ulsan (UoU) to prove their effectiveness.Autonomous mobile robots navigation and control systems are still hugely important in real time robotic applications. When moving towards fully autonomous navigation, guidance plays a vital task for successful autonomous navigation. In this paper, the authors propose real time guidance fuzzy logic application based on edge and color information surrounding the road surface by using omnidirectional cameras. Autonomous navigation systems must be able to recognize feature descriptors from both edge and color information. Firstly, it was proposed to extract the longest segments of lines from the above mentioned methods. Secondly, RANdom SAmple Consensus (RANSAC) curve fitting method was implemented for detecting the best curve fitting given the data set of points for each line segment. Thirdly, the set of intersection points for each pair of curves were extracted. Fourthly, the Density-based spatial clustering of applications with noise (DBSCAN) method was used in estimating the vanishing point (VP). Finally, to control the mobile robot in an unknown environment, a fuzzy logic controller facilitated by the VP was implemented. Preliminary results were gathered and tested on a group of consecutive frames undertaken at the University of Ulsan (UoU) to prove their effectiveness.2018-06-29T20:59:25Z2018-06-29T20:59:25Z2018-06-29T20:59:25Z2018-06-29T20:59:25Z07/01/201407/01/2014info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdftext/htmlhttps://ieeexplore.ieee.org/abstract/document/6864917/2163-5145http://ridda2.utp.ac.pa/handle/123456789/5089http://ridda2.utp.ac.pa/handle/123456789/5089enginfo:eu-repo/semantics/embargoedAccessreponame:Repositorio Institucional de documento digitales de acceso abierto de la UTPinstname:Universidad Tecnológica de Panamáinstacron:U Tecnológica de Panamáoai:ridda2.utp.ac.pa:123456789/50892021-07-06T15:34:54Z |
| spellingShingle | Vision-based heading angle estimation for an autonomous mobile robots navigation Cáceres Hernández, Danilo Navigation Image segmentation Robot sensing systems Mobile robots Image color analysis Cameras Navigation Image segmentation Robot sensing systems Mobile robots Image color analysis Cameras |
| status_str | publishedVersion |
| title | Vision-based heading angle estimation for an autonomous mobile robots navigation |
| title_full | Vision-based heading angle estimation for an autonomous mobile robots navigation |
| title_fullStr | Vision-based heading angle estimation for an autonomous mobile robots navigation |
| title_full_unstemmed | Vision-based heading angle estimation for an autonomous mobile robots navigation |
| title_short | Vision-based heading angle estimation for an autonomous mobile robots navigation |
| title_sort | Vision-based heading angle estimation for an autonomous mobile robots navigation |
| topic | Navigation Image segmentation Robot sensing systems Mobile robots Image color analysis Cameras Navigation Image segmentation Robot sensing systems Mobile robots Image color analysis Cameras |
| url | https://ieeexplore.ieee.org/abstract/document/6864917/ http://ridda2.utp.ac.pa/handle/123456789/5089 |