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Obstacle Avoidance System for Wheeled Mobile Robots by CMOS Image Sensors
Abstract
The purpose of this paper is to adopt CMOS image sensors to achieve a real-time obstacle avoidance system for wheeled mobile robots, so that the robot can continually detect surroundings, avoid obstacles, and move toward the target area. In this study, CMOS image sensor was used to detect small obstacles and obtain information concerning the environment in front of the robot. In order to avoid obstacles, the rolling speed and direction of the robot's left and right wheels were determined by the image channel weighting parameter method proposed in this study. The experimental results verified that image captured by a CMOS image sensor of the obstacle avoidance system of the wheeled mobile robot, which is combined with an ATMega162 embedded microcontroller, helps the robot avoid obstacles and reach the target area.
Keywords
Obstacle avoidance system; Wheeled mobile robots; CMOS image sensor; Image channel weighting parameter method
Citation Format:
Pu-Sheng Tsai, Ter-Feng Wu, Nien-Tsu Hu, Jen-Yang Chen, "Obstacle Avoidance System for Wheeled Mobile Robots by CMOS Image Sensors," Journal of Internet Technology, vol. 17, no. 4 , pp. 703-709, Jul. 2016.
Pu-Sheng Tsai, Ter-Feng Wu, Nien-Tsu Hu, Jen-Yang Chen, "Obstacle Avoidance System for Wheeled Mobile Robots by CMOS Image Sensors," Journal of Internet Technology, vol. 17, no. 4 , pp. 703-709, Jul. 2016.
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Published by Executive Committee, Taiwan Academic Network, Ministry of Education, Taipei, Taiwan, R.O.C
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