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Wavefront Method-Based Local-Path Planning for a Mobile Robot with a Vision System

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4 Author(s)
Ji-Wook Kwon ; Dept. of Electr. & Comput. Eng., Ajou Univ., Suwon ; Dong-Hoon Yang ; Dongkyoung Chwa ; Suk-Kyo Hong

This paper proposes a local path planning algorithm for a mobile robot with a vision system. Based on projective geometry and the wavefront-based skeleton method, the proposed algorithm performs obstacle extraction, 2D-3D transformation, and local path planning. The effectiveness of the proposed method is illustrated by experiments where a vision-equipped mobile robot navigates a maze using the proposed path planning algorithm

Published in:

SICE-ICASE, 2006. International Joint Conference

Date of Conference:

18-21 Oct. 2006