Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
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Vision-Based Mobile Robot Navigation by Robust Path Line Tracking

시각을 이용한 이동 로봇의 강건한 경로선 추종 주행

  • Son, Min-Hyuk (School of Electronic Engineering, Daegu University) ;
  • Do, Yong-Tae (School of Electronic Engineering, Daegu University)
  • 손민혁 (대구대학교 전자공학부) ;
  • 도용태 (대구대학교 전자공학부)
  • Received : 2011.01.19
  • Accepted : 2011.03.25
  • Published : 2011.05.31
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Abstract

Line tracking is a well defined method of mobile robot navigation. It is simple in concept, technically easy to implement, and already employed in many industrial sites. Among several different line tracking methods, magnetic sensing is widely used in practice. In comparison, vision-based tracking is less popular due mainly to its sensitivity to surrounding conditions such as brightness and floor characteristics although vision is the most powerful robotic sensing capability. In this paper, a vision-based robust path line detection technique is proposed for the navigation of a mobile robot assuming uncontrollable surrounding conditions. The technique proposed has four processing steps; color space transformation, pixel-level line sensing, block-level line sensing, and robot navigation control. This technique effectively uses hue and saturation color values in the line sensing so to be insensitive to the brightness variation. Line finding in block-level makes not only the technique immune from the error of line pixel detection but also the robot control easy. The proposed technique was tested with a real mobile robot and proved its effectiveness.

Keywords

References

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