We found a match
Your institution may have rights to this item. Sign in to continue.
- Title
Application of Path Planning and Image Processing for Rescue Robots.
- Authors
Chuan-Yen Lu; Chia-Chia Kao; Yu-Hsiang Lu; Jih-Gau Juang
- Abstract
The objective of this study was to integrate different position sensors and a camera in a wheeled mobile robot (WMR) for use in a rescue task. A differential global positioning system (DGPS) was used to locate the WMR position and the goal position. A laser sensor was utilized to detect the locations of obstacles and edge values. The edge values were applied to the A* algorithm to search for the shortest path for the WMR. While searching for a target, a webcam was used to capture images of the surroundings. Color segmentation was achieved and the desired color was captured. The captured color target was then used for tracking control of the rescue task. The A* algorithm, together with image processing and laser sensors, was able to obtain the shortest path to the desired color target in an unknown environment. Obstacle avoidance control was based on a fuzzy system. Experiments confirmed that the proposed control scheme worked properly and was suitable for rescue tasks.
- Subjects
GLOBAL Positioning System; POSITION sensors; PRODUCTION planning; MOBILE robots; SENSOR placement; IMAGE processing
- Publication
Sensors & Materials, 2022, Vol 34, Issue 1, Part 2, p65
- ISSN
0914-4935
- Publication type
Article
- DOI
10.18494/SAM.2022.3546