Practical path planning and path following for a non-holonomic mobile robot based on visual servoing
In this paper,a practical real-time path planning and robot navigation algorithm for a non-holonomic indoor mobile robot based on visual servoing is implemented.The proposed algorithm is divided into three parts;the first part uses Multi-Stencils Fast Marching (MSFM) as a path planning method.But the generated path results from fast marching methods when used directly,not guaranteed to be safe and smooth.Subsequently,the robot can touch corners,walls and obstacles.The proposed algorithm uses image processing methods to solve this problem.The second part estimates the position and orientation of the robot,from the visual information,to follow the desired path with avoiding obstacles.The third part proposes a decentralized PD-like Fuzzy Logic Controller (FLC) to keep up the robot on the desired path.Experimental results show that the developed design is valid to estimate shortest-path by avoiding obstacles and able to guide the robot to follow the path in real-time.
Real Time Object Tracking Visual Servoing Image Processing Fuzzy Logic Controller Non-holonomic mobile robots Path planning
Emad A.Elsheikh M.A.El-Bardini M.A.Fkirin
Dept.Of Industrial Electronics and Control Eng.Faculty of Electronic Engineering,Menouf,32952,Menoufya University,Egypt
国际会议
重庆
英文
401-406
2016-03-20（万方平台首次上网日期，不代表论文的发表时间）