標題: | Obstacle avoidance for autonomous land vehicle navigation in indoor environments by quadratic classifier |
作者: | Ku, CH Tsai, WH 資訊工程學系 Department of Computer Science |
關鍵字: | ALV navigation;collision-free path;computer vision;obstacle avoidance;obstacle detection;pattern recognition;quadratic classifier |
公開日期: | 1-Jun-1999 |
摘要: | A vision-based approach to obstacle avoidance for autonomous land vehicle (ALV) navigation in indoor environments is proposed. The approach is based on the use of a pattern recognition scheme, the quadratic classifier, to find collision-free paths in unknown indoor corridor environments. Obstacles treated in this study include the walls of the corridor and the objects that appear in the way of ALV navigation in the corridor. Detected obstacles as well as the two sides of the ALV body are considered as patterns, A systematic method for separating these patterns into two classes is proposed. The two pattern classes are used as the input data to design a quadratic classifier, Finally, the two-dimensional decision boundary of the classifier, which goes through the middle point between the two front vehicle a heels, is taken as a local collision-free path, This approach is implemented on a real ALV and successful navigations confirm the feasibility of the approach. |
URI: | http://dx.doi.org/10.1109/3477.764877 http://hdl.handle.net/11536/31303 |
ISSN: | 1083-4419 |
DOI: | 10.1109/3477.764877 |
期刊: | IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS |
Volume: | 29 |
Issue: | 3 |
起始頁: | 416 |
結束頁: | 426 |
Appears in Collections: | Articles |
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