Obstacle avoidance by changing running path for an autonomous running vehicle applying visual servoing

Akio Gofuku, Yutaka Tanaka, Hiroyoshi Soda, Isaku Nagai

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

Abstract

This paper describes an improved running control algorithm based on the visual servoing in consideration of the turning back of a running path to avoid an obstacle on the path by changing the running path. This paper also describes an experimental autonomous running vehicle to demonstrate the algorithm. As a vision sensor, the vehicle equips with a video-rate stereo range finder which processes color images from stereo CCD cameras and is developed in the authors' laboratory. From the several basic autonomous running experiments, it is concluded that the experimental vehicle runs smoothly any planned path composed of several teaching routes by transferring routes. It is also concluded that the vehicle can turn back on a path including turning back of route transference.

Original languageEnglish
Title of host publicationProceedings of the Annual Conference on Mechatronics and Machine Vision in Practice, MViP
PublisherIEEE
Pages106-111
Number of pages6
Publication statusPublished - 1997
EventProceedings of the 1997 4th Annual Conference on Mechatronics and Machine Vision in Practice, MViP - Toowoomba, Aust
Duration: Sep 23 1997Sep 25 1997

Other

OtherProceedings of the 1997 4th Annual Conference on Mechatronics and Machine Vision in Practice, MViP
CityToowoomba, Aust
Period9/23/979/25/97

Fingerprint

Visual servoing
Collision avoidance
Range finders
CCD cameras
Teaching
Color
Sensors
Experiments

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

Cite this

Gofuku, A., Tanaka, Y., Soda, H., & Nagai, I. (1997). Obstacle avoidance by changing running path for an autonomous running vehicle applying visual servoing. In Proceedings of the Annual Conference on Mechatronics and Machine Vision in Practice, MViP (pp. 106-111). IEEE.

Obstacle avoidance by changing running path for an autonomous running vehicle applying visual servoing. / Gofuku, Akio; Tanaka, Yutaka; Soda, Hiroyoshi; Nagai, Isaku.

Proceedings of the Annual Conference on Mechatronics and Machine Vision in Practice, MViP. IEEE, 1997. p. 106-111.

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

Gofuku, A, Tanaka, Y, Soda, H & Nagai, I 1997, Obstacle avoidance by changing running path for an autonomous running vehicle applying visual servoing. in Proceedings of the Annual Conference on Mechatronics and Machine Vision in Practice, MViP. IEEE, pp. 106-111, Proceedings of the 1997 4th Annual Conference on Mechatronics and Machine Vision in Practice, MViP, Toowoomba, Aust, 9/23/97.
Gofuku A, Tanaka Y, Soda H, Nagai I. Obstacle avoidance by changing running path for an autonomous running vehicle applying visual servoing. In Proceedings of the Annual Conference on Mechatronics and Machine Vision in Practice, MViP. IEEE. 1997. p. 106-111
Gofuku, Akio ; Tanaka, Yutaka ; Soda, Hiroyoshi ; Nagai, Isaku. / Obstacle avoidance by changing running path for an autonomous running vehicle applying visual servoing. Proceedings of the Annual Conference on Mechatronics and Machine Vision in Practice, MViP. IEEE, 1997. pp. 106-111
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