컨텐츠 시작
학술대회/행사
초록검색
| 제출번호(No.) | 0298 |
|---|---|
| 분류(Section) | Contributed Talk |
| 분과(Session) | Control Theory / Optimization (SS-13) |
| 영문제목 (Title(Eng.)) |
[CANCELLED] Using multiple sensors for autonomous mobile robot navigation |
| 저자(Author(s)) |
Quang Vinh Nguyen1, Tuong Lai Phan1, Duc Anh Nguyen1, Duy Trung Truong1 Vietnamese academy of military sciences and technology1 |
| 초록본문(Abstract) | The work presents the use of multi-sensor measurement system to navigate and avoid obstacles for an in-door autonomous mobile robot. The system is capable to obtain the 3D image of environment included the high dimension of objects. From the data cloud of 3D image points, an algorithm of 3D-to-2D image pressure and barriers detection (IPaBD) was developed and applied to create a global map in the moving plane of robot. This map is the good data for trajectory design approach using the A* algorithm with a new law, according to Lyapunov stability criterion that control the robot tracking trajectory. The program avoid obstructions using Improved-VFH method was also developed in order to guide robot to destination safely. |
| 분류기호 (MSC number(s)) |
93C85 |
| 키워드(Keyword(s)) | 3D-laser image, 2D-laser scanner, localization, navigation, obstacles avoidance |
| 강연 형태 (Language of Session (Talk)) |
English |