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Transportation Robot [ July 2010 ~ April 2012 ]

Platform
Trabot
• Length: 0.8m, Height: 1.0m, Width: 0.5m
• 2 motors for steering, another 2 for propulsion
• Top speed : 1.0m/sec (flat ground, no rider condition)

Fig. 1 Transportation robot platform

Research Contents
Lane extraction
• Image processing, segmentation, clustering and labeling methods are used
• Lane extracted stably by picking up features generated by using segmentation and clustering
• Extracted lane markers are useful to local localization in outdoor

Fig. 2 Image processing to extract lane feature

Obstacle avoidance
• DWA (dynamic windows approach)
• Simultaneous obstacle avoiding algorithm
• Dynamic window : Area in velocity space to reach without collision to obstacle during the given time step with given robot velocity
• Determining the velocity in the dynamic window to reach the goal point fast

Fig. 3 Determining DWA velocity from objective function


Mov. 1 DWA-based obstacle avoidance

Related Paper
• Yong-Hoon Ji, Ji-Hun Bae, Jae-Bok Song, Joo-Hyun Baek, and Jae-Kwan Ryu, “Outdoor Localization through GPS Data and Matching of Lane Markers for a Mobile Robot,” Journal of Institute of Control, Robotics and Systems, Vol. 18, No. 6, pp. 594-600, June, 2012.