GPS 시스템 및 센서를 활용한 임베디드 영상처리에 기반한 이동장치의 주행유도
Navigation of Mobile Devices based on Embedded Image Processing with Support of GPS Systems and Sensors
0
조회
0
다운로드
2
인용
0
참고문헌
키워드
초록
A recent development in system-on-chip processors provides possibilities of integration performancedemanding tasks, which can be performed only with the help of superior range of computers before. The article introduces advanced control system with embedded image processing to improving GPS localization of autonomous mobile devices in real environment. The main control system is based on ARM (SoC.) architecture integrated in Raspberry PI development board. Presented control systems can handle real-time video capturing, power-efficient image processing operation for example (thresholding, binarization, motion detection, ...etc.) and streaming results images as video. GPS precision can provide only 3 meters precision together with WAAS (Egnos) satellite. Our solution uses GPS solution and embedded image processing to detect border of roads or sidewalks. Our algorithm detects road or sidewalk universally without detection of white line in roadside, because pathways and some roads cannot provide this feature. Control system can be used for small autonomous mobile devices for example parts transport in industrial park of heavy industries, where are long distances between production halls.
Abstract
A recent development in system-on-chip processors provides possibilities of integration performancedemanding tasks, which can be performed only with the help of superior range of computers before. The article introduces advanced control system with embedded image processing to improving GPS localization of autonomous mobile devices in real environment. The main control system is based on ARM (SoC.) architecture integrated in Raspberry PI development board. Presented control systems can handle real-time video capturing, power-efficient image processing operation for example (thresholding, binarization, motion detection, ...etc.) and streaming results images as video. GPS precision can provide only 3 meters precision together with WAAS (Egnos) satellite. Our solution uses GPS solution and embedded image processing to detect border of roads or sidewalks. Our algorithm detects road or sidewalk universally without detection of white line in roadside, because pathways and some roads cannot provide this feature. Control system can be used for small autonomous mobile devices for example parts transport in industrial park of heavy industries, where are long distances between production halls.
참고문헌 (16)
- S. Minamimoto, "Map estimation using GPS-equipped mobile wireless nodes", Pervasive and Mobile Computing, 6(6), pp.623~641 (2010)
- R. Chatterjee, "Use of single side reflex for autonomous navigation of mobile robots in unknown environments", Robotics and Autonomous Systems, 35(2), pp.77~96 (2001)
- N. Ghita, "Trajectory planning for a car-like robot by environment abstraction", Robotics and Autonomous Systems, 60(4), pp.609~619 (2012)
- K. Židek, "Wireless audio signal processing for mobile robot system", Process Control 2010: 9th International, Kouty nad Desnou, Czech Republic. - Brno, pp.187 (2010), 1~C187[DOI]
- J. Boržíková, "Nonlinearity of static characteristics of the antagonistic system", Informatizacija techničeskich sistem i processov, Tom 5, Saratov, 27. - 30.5.2008, Saratov: SGTU, 2008, 5, pp.196~197 (2008), SGTU
- L. Jurišica, "High Precision GNSS Guidance for Field Mobile Robots", International Journal of Advanced Robotic Systems, 9(169), pp.1~10 (2012)
- IJ Spark, "Zero turn radius vehicle incorporating computer-controlled intelligent castors", ASME Computers in Engineering Conference, pp.825~827 (1994)
- B.C. Besselink, "Computer controlled steering system for vehicles having two independently driven wheels", Comput. Electron. Agricult., 39, pp.209~226 (2003)
- A. Hošovský, "Parametrically Invariant Genetic Fuzzy Adaptive System for a Servomotor", Systemnyj analiz, upravlenije i obrabotka informaciji, Divnomorskoje, 27. - 29.9.2010, Rostov-na-Donu, DGTU, pp.169~173 (2010)
- K. Židek, "Wireless data transfer based on WI-FI standard for mobile robot control", AT&P journal plus, 1, pp.60~63 (2006)
- K. Židek, "Remote control of mobile robots based on web technologies", Acta Mechanica Slovaca. Roč. 12, č. 1-A, 2008, pp.161(166) (2008), 161~166
- "HDOP and GPS horizontal position errors"[URL]
- T. Saloky, "Intelligent robots and computer vision", International Carpathian Control Conference ICCC’2004– Volume II, pp.243~246 (2004)
- P. Paszto, "Mobile robot navigation based on circle recognition", Journal of Electrical Engineering, 64(2), pp.84~91 (2013)
- K. Židek, "Implementation of mobile robots to outdoor interoperation transport", Acta Mechanica Slovaca, Roč. 12, č. 2-A 2008, 761(768), pp.761~768 (2008)
- K. Židek, "Movement detection by camera system", Strojárstvo extra, (5), pp.59 (2009), 1~59[DOI]