Line estimation for a line-following mobile robot

Yufka, Alpaslan; Aybar, Aydın

doi:10.1109/eleco.2015.7394444

Cited by 5 publications

(3 citation statements)

References 4 publications

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“…(9) A curved path consists of three parts with respect to rotation: before, during, and after. P I = [X I Y I θ I ] t is the initial position where the WMR reduces speed for rotation.…”

Section: Improved A* Algorithmmentioning

confidence: 99%

“…Starting with trying to find the minimum cost path, we use the Euclidean distance heuristic intuitively, which is expressed by Eq. (9). The cost function of p(j) is also calculated by the Euclidean distance [Eq.…”

Section: Improved A* Algorithmmentioning

confidence: 99%

“…However, using only the A* algorithm for path planning may cause the WMR to have to turn sharply at the corners of some paths. To smooth the paths, an improved A* algorithm, which combines curvature and rotational trajectory equations, (9) was proposed. The camera is then used to search and track targets.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Application of Differential Global Positioning System and Path Planning to Robot Outdoor Patrol

Lu¹,

Juang²

2018

Sensors and Materials

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In this paper, we present a robot outdoor patrol that applies a differential global positioning system (DGPS), an encoder, a web camera, and a laser sensor with an improved A* algorithm to achieve fixed route patrol. Obstacle avoidance by smooth pathfinding in complicated unknown environments is also considered. While in fixed route patrolling, the DGPS provides locations of the wheeled mobile robot (WMR) and the corners of buildings. By image processing and the wheel's encoder, the orientation of the WMR can be calibrated if the web camera has deviation angles to the target building. Along the patrol path, people or other obstacles may block the WMR while patrolling, so the laser sensor is used to provide the distances and edge values of such obstacles. This information is then used to improve the A* algorithm to achieve the shortest and smoothest path. A fuzzy controller is used to assist the WMR with obstacle avoidance in unknown environments. After finishing a patrol, the WMR system will send a message to a security guard to report whether the patrol region is in normal condition. If the camera detects an unidentified person, the robot will send the location of the person to the control center and ask for help.

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“…(9) A curved path consists of three parts with respect to rotation: before, during, and after. P I = [X I Y I θ I ] t is the initial position where the WMR reduces speed for rotation.…”

Section: Improved A* Algorithmmentioning

confidence: 99%

Section: Improved A* Algorithmmentioning

confidence: 99%