Abstract
A path planning algorithm based on convex hull is applied to autonomous service robot in this paper. Firstly, the coordinates of ball positions are determined by using Haar-like features classifier, the coordinate of robot's position and its heading are determined by using the method based on color model. According to the features of the robot itself, the balls in a certain range can be treated as one target point. Then a better ball-picking path is elaborated with a path planning algorithm based on convex hull, which takes the target points as the input of algorithm. The algorithm alleviates the robot's motion cost and improves the ball-picking efficiency of the autonomous service robot obviously.
| Original language | English |
|---|---|
| Pages (from-to) | 54-58+63 |
| Journal | Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology |
| Volume | 31 |
| Issue number | 1 |
| Publication status | Published - Jan 2011 |
Keywords
- Autonomous service robot
- Convex hull
- Haar-like features classifier
- Path planning