Robot control with graph based edge measure in real time image frames
Küçük Resim Yok
Tarih
2016
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Institute of Electrical and Electronics Engineers Inc.
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
Robotic path plan extraction is one of the major study area focused with image processing techniques except from estimation based methods, in real time robotic systems. In this study; I. First phase: It is aimed to track a mobile robot and target point by detecting start and target points in real time image frames, continually. II. Second phase: It is aimed to exhibit a novel sensor free kinematic model to determine power ratio transferred to the left and right wheels of the robot with decision tree method by utilizing a graph based method on detected object points. Right and left wheel position, robot center and labeled target positions are acquired with thresholding method by using labels placed on robot. A graph has been created on an image by admitting all detected areas as nodes. The processes of orientating and delivering mobile robot to the target position has been modelled according to distance values of edges between wheels and target. © 2016 IEEE.
Açıklama
24th Signal Processing and Communication Application Conference, SIU 2016 -- 16 May 2016 through 19 May 2016 -- 122605
Anahtar Kelimeler
graph based method, kinematic model, robotic path plan, sensor free
Kaynak
2016 24th Signal Processing and Communication Application Conference, SIU 2016 - Proceedings
WoS Q Değeri
Scopus Q Değeri
N/A
