Á¤º¸°úÇÐȸ ÄÄÇ»ÆÃÀÇ ½ÇÁ¦ ³í¹®Áö (KIISE Transactions on Computing Practices)
Current Result Document :
ÇѱÛÁ¦¸ñ(Korean Title) |
ÀÚÀ²ÁÖÇà ·Îº¿À» À§ÇÑ ¿µ»ó ±â¹Ý ÀÚ°¡ Ž»ö ½Ã½ºÅÛ ¿¬±¸ |
¿µ¹®Á¦¸ñ(English Title) |
An Effective Vision-based Self-Navigation System for Autonomous Indoor Vehicle |
ÀúÀÚ(Author) |
°í Ƽ¿£ Åõ
³ª¿¢ ¿¥µð ¾Ë¶÷±ê
ÇãÀdz²
Ngo Thien Thu
Md Abu Layek
Eui Nam Huh
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¿ø¹®¼ö·Ïó(Citation) |
VOL 25 NO. 07 PP. 0351 ~ 0356 (2019. 07) |
Çѱ۳»¿ë (Korean Abstract) |
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¿µ¹®³»¿ë (English Abstract) |
The advancements in a smart city have paved a way towards the development of smart buildings with an aim to improve the resident environment and quality of life. Apparently, autonomous indoor robots are considered as a critical factor for the operation of smart buildings. In the present work, we have developed a self-navigation system for mobile robots that utilize vision-based sensing and hardware control mechanism. First, sliding window line detection method is used to find the polynomial fit to two lines of the hallway, and then direction weight estimation algorithm predicts the direction of the robot with respect to the center of the two estimated lines. The results relying on real robot experiments show that the proposed navigation system can enhance the in-front obstacle for the real-time task in autonomous indoor robots.
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Å°¿öµå(Keyword) |
ÀÚ°¡ Ž»ö
³×ºñ°ÔÀÌ¼Ç ½Ã½ºÅÛ
ÀÚÀ²ÁÖÇà·Îº¿
·Îº¿ °øÇÐ
self-navigation
autonomous mobile robot
navigation system
robotics
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ÆÄÀÏ÷ºÎ |
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