Fence Following by an Autonomous Mobile Robot Including Various Intersections

Naoki Ueda, Shoichi Maeyama, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Demands to use washing robots in pig houses are growing up. The robot washes pig beds using a long arm over fences from passages. The passage is narrow so that the robot must detect the fences and run along the fences with high accuracy. A laser range scanner is useful to detect fences because there are many kinds of fences. However, the noises occur to the measured values if there are obstacles behind fences. In this study, the distance between scanned points and a path of robot is calculated and it is utilized with a zoned minimum filter to extract the points representing the fences. Then, the candidate lines are detected from the extracted points by Hough transform to detect multiple fences simultaneously. To run along the fences, the robot calculates the self-posture and distance to the detected fences. This paper describes the above proposed method and reports some experimental results of running along the fences and passing various intersections.

Original languageEnglish
Title of host publicationProceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1723-1728
Number of pages6
ISBN (Electronic)9781538666500
DOIs
Publication statusPublished - Jan 16 2019
Event2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 - Miyazaki, Japan
Duration: Oct 7 2018Oct 10 2018

Publication series

NameProceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018

Conference

Conference2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
CountryJapan
CityMiyazaki
Period10/7/1810/10/18

Keywords

  • fence
  • laser range scanner
  • mobile robot

ASJC Scopus subject areas

  • Information Systems
  • Information Systems and Management
  • Health Informatics
  • Artificial Intelligence
  • Computer Networks and Communications
  • Human-Computer Interaction

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