Vision Recognition on Line Pattern Following Behavior on POB-Bot

Abstract:

Robust development in the industries had lead to the fast development of the robots and sensors. Mobile robot is able to replace human power for many things due to its low cost and high accuracy. Types of navigation of the mobile robot had been in the research for past decades, the simplest and straight forward method of mobile robot navigation will be line following. Line following basically allows the robot to move along the predefined line. This paper is proposing a novel method of line following for more functions for mobile robot. 12 patterns have been defined to perform different functions. POB-Bot has been used to recognize these patterns using its POB-Eye. The result shows that the accuracy of the POB-Eye is promisingly high for simple pattern.

• Periodical: Applied Mechanics and Materials (Volume 432)
• Pages: 453-457
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.432.453
• Online since: September 2013
• Authors: Tang Swee Ho, Goh Chok How, Yeong Che Fai, Tey Wei Kang, Eileen Su Lee Ming
• Keywords: Line Patterns, Mobile Robot, Vision Recognition

References

[1] M. Rosenblum and B. Gothard: A high Fidelity Multi-Sensor Scene Understanding System For Autonomous Navigation, Proceedings of the IEEE Intelligent Vehicles Symposium 2000 Cat No00TH8511 (2000), no. Mi, p.637–643.

DOI: 10.1109/ivs.2000.898420

[2] J. Palacin and J. Salse: Building a mobile robot for a floor-cleaning operation in domestic environments, Proceedings of the 20th IEEE Instrumentation Technology Conference Cat No03CH37412 (2003), vol. 53 (2004), no. 5, p.1418–1424.

DOI: 10.1109/imtc.2003.1207979

[3] G.R. Pipes, U.S. Patent 4, 657, 463. (1986).

[4] R. A. Russell, D. Thiel, R. Deveza, and A. Mackay-Sim: A robotic system to locate hazardous chemical leaks, Proceedings of 1995 IEEE International Conference on Robotics and Automation, vol. 1 (1995), p.556–561.

DOI: 10.1109/robot.1995.525342

[5] Z. Li, J. Zhu, C. He, and W. Wang: A new pipe cleaning and inspection robot with active pipe-diameter adaptability based on ATmega64, 2009 9th International Conference on Electronic Measurement & Instruments, (2009), p.2–616–2–619.

DOI: 10.1109/icemi.2009.5274509

[6] J. P. Ruurda, T. J. M. V van Vroonhoven, and I. a M. J. Broeders: Robot-assisted surgical systems: a new era in laparoscopic surgery, Annals of the Royal College of Surgeons of England, vol. 84 (2002), no. 4, p.223–6.

DOI: 10.1308/003588402320439621

[7] S. Sukkarieh: A high integrity IMU/GPS navigation loop for autonomous land vehicle applications, IEEE Transactions on Robotics and Automation, vol. 15 (1999), no. 3, p.572–578.

DOI: 10.1109/70.768189

[8] V. Kulyukin, C. Gharpure, J. Nicholson, and S. Pavithran: RFID in robot-assisted indoor navigation for the visually impaired, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No. 04CH37566), vol. 2 (2004).

DOI: 10.1109/iros.2004.1389688

[9] M. Ocaña and L. Bergasa: Indoor robot navigation using a POMDP based on WiFi and ultrasound observations, in 2005 IEEERSJ International Conference on Intelligent Robots and Systems, (2005), p.2592–2597.

DOI: 10.1109/iros.2005.1545031

[10] Y. Sung-II Jung, U.S. Patent 6, 493, 614. (2002).