scholarly journals Lane Detection Algorithm Using LRF for Autonomous Navigation of Mobile Robot

2021 ◽  
Vol 11 (13) ◽  
pp. 6229
Author(s):  
Jong-Ho Han ◽  
Hyun-Woo Kim
Keyword(s):  
Mobile Robot ◽  
Autonomous Navigation ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Detection Algorithm ◽  
Lane Detection ◽  
Detection And Tracking ◽  
Lane Recognition ◽  
Fundamental Requirement ◽  
Three Dimensional Space

This paper proposes a lane detection algorithm using a laser range finder (LRF) for the autonomous navigation of a mobile robot. There are many technologies for ensuring the safety of vehicles, such as airbags, ABS, and EPS. Further, lane detection is a fundamental requirement for an automobile system that utilizes the external environment information of automobiles. Representative methods of lane recognition are vision-based and LRF-based systems. In the case of a vision-based system, the recognition of the environment of a three-dimensional space becomes excellent only in good conditions for capturing images. However, there are so many unexpected barriers, such as bad illumination, occlusions, vibrations, and thick fog, that the vision-based method cannot be used for satisfying the abovementioned fundamental requirement. In this paper, a three-dimensional lane detection algorithm using LRF that is very robust against illumination is proposed. For the three-dimensional lane detection, the laser reflection difference between the asphalt and the lane according to color and distance has been utilized with the extraction of feature points. Further, a stable tracking algorithm is introduced empirically in this research. The performance of the proposed algorithm of lane detection and tracking has been experimentally verified.

Collision avoidance for mobile robots based on artificial potential field and obstacle envelope modelling

2016 ◽  
Vol 36 (3) ◽  
pp. 318-332 ◽  
Author(s):  
Zhenyu Wu ◽  
Guang Hu ◽  
Lin Feng ◽  
Jiping Wu ◽  
Shenglan Liu
Keyword(s):  
Mobile Robot ◽  
Collision Avoidance ◽  
Potential Field ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Artificial Potential Field ◽  
Content Type ◽  
Negative Pole ◽  
Avoidance Problem ◽  
Three Dimensional Space

Purpose This paper aims to investigate the collision avoidance problem for a mobile robot by constructing an artificial potential field (APF) based on geometrically modelling the obstacles with a new method named the obstacle envelope modelling (OEM). Design/methodology/approach The obstacles of arbitrary shapes are enveloped in OEM using the primitive, which is an ellipse in a two-dimensional plane or an ellipsoid in a three-dimensional space. As the surface details of obstacles are neglected elegantly in OEM, the workspace of a mobile robot is made simpler so as to increase the capability of APF in a clustered environment. Findings Further, a dipole is applied to the construction of APF produced by each obstacle, among which the positive pole pushes the robot away and the negative pole pulls the robot close. Originality/value As a whole, the dipole leads the robot to make a derivation around the obstacle smoothly, which greatly reduces the local minima and trajectory oscillations. Computer simulations are conducted to demonstrate the effectiveness of the proposed approach.

3D Navigational Path Planning

Robotica ◽  
1990 ◽  
Vol 8 (3) ◽  
pp. 195-205 ◽  
Author(s):  
T.M. Rao ◽  
Ronald C. Arkin
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Recent Literature ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Two Dimensions ◽  
Polyhedral Objects ◽  
3D Surfaces ◽  
Three Dimensional Space

SUMMARYThe problem of path planning for a mobile robot has been studied extensively in recent literature. Much of the work in this area is devoted to the study of path planning for an earth-bound robot in two dimensions. In this paper, we explore the problem for a robot that can fly in three dimensional space or crawl on 3D surfaces or use a combination of both. We assume that the obstacles can be modeled as polyhedral objects.

scholarly journals A Real Time Lane Detection Algorithm Using LRF for Autonomous Navigation of a Mobile Robot

2013 ◽  
Vol 19 (11) ◽  
pp. 1029-1035 ◽  
Author(s):  
Hyun Woo Kim ◽  
Yo-Seup Hawng ◽  
Yun-Ki Kim ◽  
Dong-Hyuk Lee ◽  
Jang-Myung Lee
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Autonomous Navigation ◽  
Detection Algorithm ◽  
Lane Detection

Research on improved hough algorithm and its application in lunar crater

2021 ◽  
pp. 1-9
Author(s):  
Lanfeng Zhou ◽  
Ling Li
Keyword(s):  
Coordinate System ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Detection Algorithm ◽  
Polar Coordinate System ◽  
Circle Center ◽  
Traditional Algorithm ◽  
Polar Coordinate ◽  
Cartesian Coordinate ◽  
Three Dimensional Space

Traditional Hough circle detection algorithm usually determines the center and radius of a circle by mapping points in cartesian coordinate system to polar coordinate system. Since it accumulates in the three-dimensional space, it requires more calculation consumption. In this paper, we solve the problem of high time complexity of Hough algorithm in judging circle radius and circle center from two aspects of circle angle and circle radius according to the geometric features of quasi-circles. A large number of experiments show that, compared with the traditional algorithm, this algorithm can not only identify quasi-circles, but also improve the detection success rate of circles by about 10%, with efficient running speed, and obtain good experimental results in the detection of craters.

Extension of the Spatial PDI Model to Three Dimensions

1997 ◽  
Vol 84 (1) ◽  
pp. 176-178
Author(s):  
Frank O'Brien
Keyword(s):  
Population Density ◽  
Dimensional Space ◽  
Finite Lattice ◽  
Three Dimensional ◽  
Upper Bounds ◽  
Three Dimensions ◽  
Lower And Upper Bounds ◽  
Density Index ◽  
Three Dimensional Space

The author's population density index ( PDI) model is extended to three-dimensional distributions. A derived formula is presented that allows for the calculation of the lower and upper bounds of density in three-dimensional space for any finite lattice.

A Peptoid with Extended Shape in Water

2019 ◽  
Author(s):  
Jumpei Morimoto ◽  
Yasuhiro Fukuda ◽  
Takumu Watanabe ◽  
Daisuke Kuroda ◽  
Kouhei Tsumoto ◽  
...  
Keyword(s):  
Spectroscopic Analysis ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Biomolecular Recognition ◽  
Biological Application ◽  
New Class ◽  
Proteolytic Resistance ◽  
Pharmacokinetic Properties ◽  
Optically Pure ◽  
Three Dimensional Space

<div> <div> <div> <p>“Peptoids” was proposed, over decades ago, as a term describing analogs of peptides that exhibit better physicochemical and pharmacokinetic properties than peptides. Oligo-(N-substituted glycines) (oligo-NSG) was previously proposed as a peptoid due to its high proteolytic resistance and membrane permeability. However, oligo-NSG is conformationally flexible and is difficult to achieve a defined shape in water. This conformational flexibility is severely limiting biological application of oligo-NSG. Here, we propose oligo-(N-substituted alanines) (oligo-NSA) as a new peptoid that forms a defined shape in water. A synthetic method established in this study enabled the first isolation and conformational study of optically pure oligo-NSA. Computational simulations, crystallographic studies and spectroscopic analysis demonstrated the well-defined extended shape of oligo-NSA realized by backbone steric effects. The new class of peptoid achieves the constrained conformation without any assistance of N-substituents and serves as an ideal scaffold for displaying functional groups in well-defined three-dimensional space, which leads to effective biomolecular recognition. </p> </div> </div> </div>

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