Image-based smooth path planning for wheeled robot

Kuo Ho Su, Tan Phat Phan, Chan Yun Yang, Wen June Wang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

A smooth path planning system including cluster reduction, Voronoi path planning and fuzzy path smoothing algorithm is developed for wheeled robot in this paper. To shorten the path planning time, the obstacles in the captured image are clustered into smaller groups firstly. Being a roadmap method for path generation, the Voronoi path diagram is employed consecutively. To smooth the planned path, a novel algorithm based on fuzzy inference mechanism is proposed to adjust the position of waypoints. To verify the effectiveness of the proposed system, some simulations are carried out. From the simulation, the wheeled robot possesses good path planning and path smoothing performance to reach its goal safely and smoothly under various obstacle layouts.

Original languageEnglish
Title of host publication11th IEEE International Conference on Control and Automation, IEEE ICCA 2014
PublisherIEEE Computer Society
Pages203-207
Number of pages5
ISBN (Print)9781479928378
DOIs
StatePublished - 2014
Event11th IEEE International Conference on Control and Automation, IEEE ICCA 2014 - Taichung, Taiwan
Duration: 18 Jun 201420 Jun 2014

Publication series

NameIEEE International Conference on Control and Automation, ICCA
ISSN (Print)1948-3449
ISSN (Electronic)1948-3457

Conference

Conference11th IEEE International Conference on Control and Automation, IEEE ICCA 2014
Country/TerritoryTaiwan
CityTaichung
Period18/06/1420/06/14

Keywords

  • cluster reduction
  • fuzzy inference mechanism
  • smooth path planning
  • Voronoi diagram
  • wheeled robot

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