Control of a wheeled mobile robot with two image processing grades

Tamio Nakashima, Takahiro Yakoh, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to conferencePaperpeer-review


This paper proposes a new method for trajectory planning of a mobile robot with 3D image processing. Recent advances of computer technology make it possible to realize a real time feedback of visual information in motion control system. In the almost all methods, it is assumed that environment and/or shape of obstacles are given. In the practical implementation, however, this assumption restricts the robot motion to realize a desired task. To address the above issue, this paper introduces Level Set Method (LSM) to recognize 3D shape of unknown obstacle. The proposed approach has a simplified image processing and is easily applicable to motion control of the mobile robot.

Original languageEnglish
Number of pages4
Publication statusPublished - 2000 Dec 1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering


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