Obstacle Avoidance for AGV with Kinect Sensor
نویسندگان
چکیده
This paper aims the development of autonomous obstacle avoidance algorithm for automated guided vehicle with a Kinect sensor. To do this task, the followings are executed. Firstly, depth data is obtained from the Kinect sensor, and the mean filter approach is developed to filter out noises. Secondly, Otsu and U-V parallax based method is designed to identify background and obstacles. Finally, According to barrier information, corresponding fuzzy control rules is generated for the path planning. Our experiments show that the proposed method is fast, and gives promising results.
منابع مشابه
Integration of intelligent systems and sensor fusion within the CONTROLAB AGV
This paper discusses the integration of intelligent systems and the use of sensor fusion within a Multi-Level Fusion Architecture (MUFA) designed for controlling the navigation of a tele-commanded Autonomous Guided Vehicle (AGV). The AGV can move autonomously within any office environment, following instructions issued by client stations connected to the Internet and reacting accordingly to dif...
متن کاملDynamic Obstacle Avoidance by Distributed Algorithm based on Reinforcement Learning (RESEARCH NOTE)
In this paper we focus on the application of reinforcement learning to obstacle avoidance in dynamic Environments in wireless sensor networks. A distributed algorithm based on reinforcement learning is developed for sensor networks to guide mobile robot through the dynamic obstacles. The sensor network models the danger of the area under coverage as obstacles, and has the property of adoption o...
متن کاملThe Obstacle Avoidance Mode of Multi AGVs Based on Electricity Suppliers Logistics Environment
In multi AGV (Automatic Guided Vehicle) system, the core problem is how to plan a collision free path for each AGV, to solve the conflict between AGV and ensure the path of the path is not only the premise of path planning, but also the basis of the effectiveness of the task scheduling, so for the study of AGV system, multi AGV collision problem is also the research’s hotspot and difficult prob...
متن کاملApplication of a Blind Person Strategy for Obstacle Avoidance with the Use of Potential Fields
This paper proposes a new obstacle avoidance algorithm for the CONTROLAB AGV which uses a similar strategy adopted by a blind person to avoid obstacles while walking. The AGV moves within an office environment with a known floorplan and uses an "electronic stick" consisting of infrared sensors to detect unknown obstacles. Initially a global potential field function is defined for each floorplan...
متن کاملIntelligent Control And Navigation Of An Outdoor AGV
Piloting AGVs in an unstructured, dynamic and complex outdoor environment has become an emerging area of research. In this paper we describe the development of a fuzzy na tor to perform the local navigation and obstacle avoidance tasks for an outdoor AGV which is realised from a golf cart. The hybrid architecture incorporates a high level 'modeland-plan' and a low-level 'sense-and-execute' laye...
متن کامل