Cart (Loading....) | Create Account
Close category search window
 

Vision-based path planning for the rotation control of unicycle robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Jongmyung Hwang ; Intell. Robot Lab., Pusan Nat. Univ., Busan, South Korea ; Sungha Kim ; Jangmyung Lee

To control the trajectory of the unicycle robot, the CCD camera has been utilized for detecting the lanes for the robot. Conventional unicycle robot can control the posture while it is moving forward and backward with a certain velocity. However it is not capable of controlling the direction to follow a given lane or to avoid an obstacle. Our proposed unicycle robot is equipped with a rotational disk to change the direction. This paper proposes a new line detecting algorithm image processing method of unicycle robot. Mask scanning method was applied to line detecting algorithm. Furthermore, unicycle robot has many fluctuations and variations. As an inevitable consequence for these conditions, there are some errors according to the position change of CCD camera of unicycle robot during line detection. To compensate these errors, homography rotation and distance compensation was used. For the results of this algorithm, unicycle robot can be operated in stable.

Published in:

Advanced Intelligent Mechatronics (AIM), 2010 IEEE/ASME International Conference on

Date of Conference:

6-9 July 2010

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.