Weaving Laser Vision System for Navigation of Mobile Robots in Pipeline Structures
SCIE
SCOPUS
- Title
- Weaving Laser Vision System for Navigation of Mobile Robots in Pipeline Structures
- Authors
- Kim, Seung Hun; Lee, Sang Jun; Kim, Sang Woo
- Date Issued
- 2018-03
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Abstract
- A new laser vision system is proposed for the navigation of mobile robots in pipe environments. This paper mainly focuses on forward recognition of individual T-junctions and elbow pipes to prevent the robots from becoming stuck in pipes. We propose to mount weaving 2-D laser scanners on robots to obtain selective 3-D front-pipe maps. Recognition of T-junctions requires 3-D maps for pipe wall on wheel sides, whereas recognition of elbow pipes requires full-forward 3-D maps. From these selective forward 3-D maps, algorithms for recognition of T-junctions and elbow pipes were developed, utilizing the mathematical approach to describe the pipeline structures. The practicality of the proposed algorithms was validated for several pipe environments, including T-junction, single elbow pipe, and the latter pipe of double elbow pipes.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/94996
- DOI
- 10.1109/JSEN.2018.2795043
- ISSN
- 1530-437X
- Article Type
- Article
- Citation
- IEEE SENSORS JOURNAL, vol. 18, no. 6, page. 2585 - 2591, 2018-03
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