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Design and Implementation of Curvilinear Motion Control for the Mobile Robot



Parallel abstracts

In this paper, we proposed a dynamic obstacle avoidance method based on the depth image from Xtion depth sensor to smoothly move around obstacles. According to the depth image from the sensor, an obstacle is efficiently detected in dark indoor environment with sufficient information of distance between the obstacle and the sensor. Based on the knowledge of curved motion, a radius is found by our method and assigned to a differential wheeled robot to avoid obstacles which is detected in the depth image. Some experiments are conducted to evaluate the performance of the proposed method.