Development of Vision-Based Navigation System for Wheeled Agent

文化大學機構典藏 CCUR > 理工學院 > 工學院 > 機械工程系暨機械工程學系數位機電研究所 > 期刊論文 > Item 987654321/29211

Please use this identifier to cite or link to this item: https://irlib.pccu.edu.tw/handle/987654321/29211

Title:	Development of Vision-Based Navigation System for Wheeled Agent
Authors:	Su, Kuo-Ho Lian, Feng-Li Yang, Chan-Yun
Contributors:	機械工程學系數位機電碩士班
Keywords:	wheeled agent path planning image processing path following Fuzzy sliding-mode control
Date:	2014-05
Issue Date:	2015-01-26 11:49:29 (UTC+8)
Abstract:	In this paper, a vision-based navigation system including support vector machine (SVM) path planner and fuzzy sliding-mode controlled (SMC) path follower is developed for a wheeled agent. The developed system, comprising image acquisition, map formatting, path planning, label assignment, and path tracking inference mechanisms, aims to gracefully follow a planned smooth path. To obtain accurate coordinate values, the captured images are first adjusted by calibration processing. As a roadmap method for path generation, the Voronoi diagram is employed as a preprocessor and the Gaussian kernel SVM postprocessor is applied consecutively. To deal with the uncertainties, a path follower based on fuzzy SMC is embedded to track the planned path on line. In this study, a practical framework is implemented to assess the performance. With the real devised system, a series of experiments are carried out and analyzed to confirm the expected performance. The experiments show a robust capability of the system for both path planning and path tracking under various obstacle layouts.
Relation:	ASIAN JOURNAL OF CONTROL 卷: 16 期: 3 頁碼: 778-794 特刊: SI
Appears in Collections:	[機械工程系暨機械工程學系數位機電研究所] 期刊論文

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