Development of Patrol Robot using DGPS and Curb Detection

Kim, Seung‐Hun; Kim, Moon-June; Kang, Sungchul; Hong, Suk-Kyo; Roh, Chi-Won

doi:10.5302/j.icros.2007.13.2.140

Cited by 8 publications

(2 citation statements)

References 4 publications

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“…The information detected is used for recognizing obstacles, map building, and driving, thereby ensuring location detection, collision avoidance, path tracking, lane recognition, etc. [3][4][5][6]. Lane recognition technology, one of the core technologies of ASV, involves a vision-based system and a laser-sensorbased system, among others.…”

Section: Introductionmentioning

confidence: 99%

“…3) where x Robot , y Robot , and z Robot denote the mobile robot's coordinates; x LRF , y LRF represent the coordinates of the data scanned by LRF; θ denotes the rotational angle of the mobile robot's coordinates around X0; and x map , y map , z map represent the coordinates of the points for building a map. The coordinates of the LRF data transformed with Equation (3) are used for building a 3D map through a continuous iteration.…”

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confidence: 99%

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Lane Detection Algorithm Using LRF for Autonomous Navigation of Mobile Robot

Han

Kim

2021

Applied Sciences

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This paper proposes a lane detection algorithm using a laser range finder (LRF) for the autonomous navigation of a mobile robot. There are many technologies for ensuring the safety of vehicles, such as airbags, ABS, and EPS. Further, lane detection is a fundamental requirement for an automobile system that utilizes the external environment information of automobiles. Representative methods of lane recognition are vision-based and LRF-based systems. In the case of a vision-based system, the recognition of the environment of a three-dimensional space becomes excellent only in good conditions for capturing images. However, there are so many unexpected barriers, such as bad illumination, occlusions, vibrations, and thick fog, that the vision-based method cannot be used for satisfying the abovementioned fundamental requirement. In this paper, a three-dimensional lane detection algorithm using LRF that is very robust against illumination is proposed. For the three-dimensional lane detection, the laser reflection difference between the asphalt and the lane according to color and distance has been utilized with the extraction of feature points. Further, a stable tracking algorithm is introduced empirically in this research. The performance of the proposed algorithm of lane detection and tracking has been experimentally verified.

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Section: Introductionmentioning

confidence: 99%

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confidence: 99%

Lane Detection Algorithm Using LRF for Autonomous Navigation of Mobile Robot

Han

Kim

2021

Applied Sciences

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Drivable road region detection using a single laser range finder for outdoor patrol robots

Shin

Jung

Chung

2010

2010 IEEE Intelligent Vehicles Symposium

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Autonomous Navigation of a Surveillance Robot in Harsh Outdoor Road Environments

Shin

Kim

Lee

et al. 2013

Advances in Mechanical Engineering

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This paper deals with the autonomous navigation problem of a mobile robot in outdoor road environments. The target application is surveillance in petroleum storage bases. Although there have been remarkable technological achievements recently in the area of outdoor navigation, robotic systems are still expensive due to a large number of high cost sensors. This paper proposes the reliable extraction algorithm of traversable regions using a single onboard Laser Range Finder (LRF) in outdoor road environments. The traversable regions are derived from the classifications of the road surfaces, curbs, and obstacles. The proposed scheme was experimentally tested in success. Since there are many potential applications that require autonomous service robots to move in semistructured road environments, the proposed scheme can be widely used as a low-cost practical solution.

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Development of Patrol Robot using DGPS and Curb Detection

Cited by 8 publications

References 4 publications

Lane Detection Algorithm Using LRF for Autonomous Navigation of Mobile Robot

Lane Detection Algorithm Using LRF for Autonomous Navigation of Mobile Robot

Drivable road region detection using a single laser range finder for outdoor patrol robots

Autonomous Navigation of a Surveillance Robot in Harsh Outdoor Road Environments

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