Fence Following by an Autonomous Mobile Robot Including Various Intersections

Naoki Ueda, Shoichi Maeyama, Keigo Watanabe

研究成果

抄録

Demands to use washing robots in pig houses are growing up. The robot washes pig beds using a long arm over fences from passages. The passage is narrow so that the robot must detect the fences and run along the fences with high accuracy. A laser range scanner is useful to detect fences because there are many kinds of fences. However, the noises occur to the measured values if there are obstacles behind fences. In this study, the distance between scanned points and a path of robot is calculated and it is utilized with a zoned minimum filter to extract the points representing the fences. Then, the candidate lines are detected from the extracted points by Hough transform to detect multiple fences simultaneously. To run along the fences, the robot calculates the self-posture and distance to the detected fences. This paper describes the above proposed method and reports some experimental results of running along the fences and passing various intersections.

本文言語English
ホスト出版物のタイトルProceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1723-1728
ページ数6
ISBN(電子版)9781538666500
DOI
出版ステータスPublished - 7月 2 2018
イベント2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 - Miyazaki
継続期間: 10月 7 201810月 10 2018

出版物シリーズ

名前Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018

Conference

Conference2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
国/地域Japan
CityMiyazaki
Period10/7/1810/10/18

ASJC Scopus subject areas

  • 情報システム
  • 情報システムおよび情報管理
  • 健康情報学
  • 人工知能
  • コンピュータ ネットワークおよび通信
  • 人間とコンピュータの相互作用

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