Target approach for an autonomous mobile robot using camera images and its behavioral acquisition for avoiding an obstacle

Yuta Takashima, Keigo Watanabe, Isaku Nagai

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

1 Citation (Scopus)

Abstract

An autonomous mobile robot has to possess a locomotion way suitable for the mobile environment and to autonomously move. This research aims to operate an autonomous mobile robot by determining the control input from the features of acquired camera images. Some advantages of this method are the following points: i.e., there is no need for self-localization, so that the amount of computations is small, and it can be controlled by a human-like method. In conventional studies, avoiding of static obstacles was realized by using edge detection and fuzzy control. However, there remain several problems, i.e., it is difficult to deal with moving obstacle, there is no system for approaching a target point while avoiding obstacles, etc. Therefore, this paper proposes a method for approaching a target point while avoiding obstacles, by adding potentials around the target when constructing the potential field. In addition, a collision prediction system is constructed using a convolutional neural network (CNN) and a method of stopping a robot in the vicinity of the target point while avoiding a moving obstacle is proposed by switching control based on such a system. The effectiveness of the proposed method is verified by simulation experiments. The experimental results show that the robot avoids a moving obstacle and stops at the target by using the proposed method.

Original languageEnglish
Title of host publicationProceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages251-256
Number of pages6
ISBN (Electronic)9781728116983
DOIs
Publication statusPublished - Aug 2019
Event16th IEEE International Conference on Mechatronics and Automation, ICMA 2019 - Tianjin, China
Duration: Aug 4 2019Aug 7 2019

Publication series

NameProceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019

Conference

Conference16th IEEE International Conference on Mechatronics and Automation, ICMA 2019
CountryChina
CityTianjin
Period8/4/198/7/19

Keywords

  • Autonomous mobile robot
  • Obstacle avoidance
  • Target location arrival

ASJC Scopus subject areas

  • Signal Processing
  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence

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  • Cite this

    Takashima, Y., Watanabe, K., & Nagai, I. (2019). Target approach for an autonomous mobile robot using camera images and its behavioral acquisition for avoiding an obstacle. In Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019 (pp. 251-256). [8816199] (Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2019.8816199