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Mobile robot navigation using circular path planning algorithm

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2 Author(s)
Sung-Min Han ; School of Electronics, Telecommunication and Computer Engineering, Korea Aerospace University, Seoul, Korea ; Kang-Woong Lee

In this paper we propose a circular path planning algorithm for a mobile robot using only monocular vision system. The proposed method reduces the size of image data obtained by CCD camera to improve the image processing speed and noise immunity. A circular path for obstacle avoidance of the mobile robot is determined by the position and size of obstacles. Velocity of the mobile robot is controlled to guarantee stable movement. We show performance of the proposed method through experiments on Pioneer2-DX.

Published in:

Control, Automation and Systems, 2008. ICCAS 2008. International Conference on

Date of Conference:

14-17 Oct. 2008