http://scholars.ntou.edu.tw/handle/123456789/22413
標題: | Application of Real-time Positioning System with Visual and Range Sensors to Security Robot | 作者: | Chen, Chien-Lin Wang, Peng-Bo Juang, Jih-Gau |
關鍵字: | WMR;GNSS;face recognition;obstacle avoidance;path planning | 公開日期: | 1-一月-2019 | 出版社: | MYU, SCIENTIFIC PUBLISHING DIVISION | 卷: | 31 | 期: | 2 | 起(迄)頁: | 543-558 | 來源出版物: | SENSORS AND MATERIALS | 摘要: | The objective of this study is to apply a global navigation satellite system (GNSS)-realtime kinematic (RTK) positioning system, StarGazer, a visual sensor, and a range sensor to a wheeled mobile robot (WMR) for security service. The GNSS-RTK positioning system can provide the outdoor location of the WMR and record the path through which WMR moves. StarGazer, an infrared positioning system, is applied for indoor navigation. We use a webcam to search for people who appear in the patrol path. An intruder's face is recognized using the Fisherface algorithm. A laser sensor is utilized to detect an obstacle's position, and a fuzzy controller is applied to obstacle avoidance control. Experimental results show that the proposed control scheme can make the WMR perform surveillance tasks in outdoor and indoor environments as well as security patrol. |
URI: | http://scholars.ntou.edu.tw/handle/123456789/22413 | ISSN: | 0914-4935 | DOI: | 10.18494/SAM.2019.2105 |
顯示於: | 通訊與導航工程學系 |
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