Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이병주 | - |
dc.date.accessioned | 2023-05-22T04:42:34Z | - |
dc.date.available | 2023-05-22T04:42:34Z | - |
dc.date.issued | 2013-04 | - |
dc.identifier.citation | Intelligent Service Robotics, v. 6, NO. 2, Page. 69-77 | - |
dc.identifier.issn | 1861-2776;1861-2784 | - |
dc.identifier.uri | https://link.springer.com/article/10.1007/s11370-012-0114-2 | en_US |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/181043 | - |
dc.description.abstract | This paper presents task-oriented navigation algorithms used for an outdoor environment. The goals of the navigation are recognizing colored border lines on both sides of a path, avoiding obstacles on the path, and navigating the given path. To recognize the colored border lines with one camera, we apply a support vector data description method, which employs six color features extracted from two color models. To avoid collision with obstacles on the path, we fuse the data of the lines measured by a camera and the obstacles measured by a laser range finder. These algorithms were applied to autonomous navigation of about 100 m long curved track. We demonstrate that a four-wheel skid-steeringmobile robot successfully finishes the mission. | - |
dc.description.sponsorship | This work was supported by the Technology Innovation Program (10040097) funded by the Ministry of Knowledge Economy (MKE, Korea), supported by GRRC program of Gyeonggi Province (GRRC HANYANG 2011-A02), and financially supported by the Ministry of Knowledge Economy (MKE) and Korea Institute for Advancement in Technology (KIAT) through the Workforce Development Program in Strategic Technology, supported by the MKE(The Ministry of Knowledge Economy), Korea, under the Robotics-Specialized Education Consortium for Graduates support program supervised by the NIPA(National IT Industry Promotion Agency) (C7000-1001-1009). | - |
dc.language | en | - |
dc.publisher | Springer Verlag | - |
dc.subject | Color detection | - |
dc.subject | Sensor fusion | - |
dc.subject | Mobile robot | - |
dc.subject | Outdoor navigation | - |
dc.title | Task-oriented navigation algorithms for an outdoor environment with colored borders and obstacles | - |
dc.type | Article | - |
dc.relation.no | 2 | - |
dc.relation.volume | 6 | - |
dc.identifier.doi | 10.1007/s11370-012-0114-2 | - |
dc.relation.page | 69-77 | - |
dc.relation.journal | Intelligent Service Robotics | - |
dc.contributor.googleauthor | Jung, Eui-Jung | - |
dc.contributor.googleauthor | Yi, Byung-Ju | - |
dc.sector.campus | E | - |
dc.sector.daehak | 공학대학 | - |
dc.sector.department | 전자공학부 | - |
dc.identifier.pid | bj | - |
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