{"title":"图像处理与距离计算在WMR避障与停车控制中的应用","authors":"Jiaming Zhan, Chengmao Wu, J. Juang","doi":"10.1109/ICIEA.2010.5514973","DOIUrl":null,"url":null,"abstract":"This paper presents the use of camera, sonar sensor, and localization system on a wheeled mobile robot (WMR) for obstacle avoidance and parking control. The camera provides image of the surrounding. Distance between the WMR and object or obstacle can be obtained by image process and distance computation algorithm. Fuzzy system and genetic algorithm are integrated in the control scheme that can effectively drive the WMR without complicated mathematical equations. Sonar sensors detect safety distance for the WMR. The localization system provides coordinate position of the WMR. The WMR can perform obstacle avoidance and garage parking successfully.","PeriodicalId":234296,"journal":{"name":"2010 5th IEEE Conference on Industrial Electronics and Applications","volume":"532 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"14","resultStr":"{\"title\":\"Application of image process and distance computation to WMR obstacle avoidance and parking control\",\"authors\":\"Jiaming Zhan, Chengmao Wu, J. Juang\",\"doi\":\"10.1109/ICIEA.2010.5514973\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents the use of camera, sonar sensor, and localization system on a wheeled mobile robot (WMR) for obstacle avoidance and parking control. The camera provides image of the surrounding. Distance between the WMR and object or obstacle can be obtained by image process and distance computation algorithm. Fuzzy system and genetic algorithm are integrated in the control scheme that can effectively drive the WMR without complicated mathematical equations. Sonar sensors detect safety distance for the WMR. The localization system provides coordinate position of the WMR. The WMR can perform obstacle avoidance and garage parking successfully.\",\"PeriodicalId\":234296,\"journal\":{\"name\":\"2010 5th IEEE Conference on Industrial Electronics and Applications\",\"volume\":\"532 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-06-15\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"14\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2010 5th IEEE Conference on Industrial Electronics and Applications\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICIEA.2010.5514973\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 5th IEEE Conference on Industrial Electronics and Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICIEA.2010.5514973","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Application of image process and distance computation to WMR obstacle avoidance and parking control
This paper presents the use of camera, sonar sensor, and localization system on a wheeled mobile robot (WMR) for obstacle avoidance and parking control. The camera provides image of the surrounding. Distance between the WMR and object or obstacle can be obtained by image process and distance computation algorithm. Fuzzy system and genetic algorithm are integrated in the control scheme that can effectively drive the WMR without complicated mathematical equations. Sonar sensors detect safety distance for the WMR. The localization system provides coordinate position of the WMR. The WMR can perform obstacle avoidance and garage parking successfully.
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