A Comparison of Two Approaches for Collision Avoidance of an Automated Guided Vehicle Using Monocular Vision
In this paper a comparison of two approaches for collision avoidance of an automated guided vehicle (AGV) using monocular vision is presented. The first approach is by floor sampling. The floor where the AGV operates, is usually monotone. Thus, by sampling the floor, the information can be used to s...
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| Format: | Article |
| Language: | English |
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scientific.net
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| Online Access: | http://umpir.ump.edu.my/id/eprint/2118/1/AMM.145.547.pdf |
| _version_ | 1796989511991820288 |
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| author | Zahari, Taha Jessnor Arif, Mat Jizat |
| author_facet | Zahari, Taha Jessnor Arif, Mat Jizat |
| author_sort | Zahari, Taha |
| collection | UMP |
| description | In this paper a comparison of two approaches for collision avoidance of an automated guided vehicle (AGV) using monocular vision is presented. The first approach is by floor sampling. The floor where the AGV operates, is usually monotone. Thus, by sampling the floor, the information can be used to search similar pixels and establish the floor plane in its vision. Therefore any other objects are considered as obstacles and should be avoided. The second approach employs the Canny edge detection method. The Canny edge detection method allows accurate detection, close to real object, and minimum false detection by image noise. Using this method, every edge detected is considered to be part of an obstacle. This approach tries to avoid the nearest obstacle to its vision. Experiments are conducted in a control environment. The monocular camera is mounted on an ERP-42 Unmanned Solution robot platform and is the sole sensor providing information for the robot about its environment |
| first_indexed | 2024-03-06T11:38:12Z |
| format | Article |
| id | UMPir2118 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T11:38:12Z |
| publisher | scientific.net |
| record_format | dspace |
| spelling | UMPir21182015-03-03T07:54:48Z http://umpir.ump.edu.my/id/eprint/2118/ A Comparison of Two Approaches for Collision Avoidance of an Automated Guided Vehicle Using Monocular Vision Zahari, Taha Jessnor Arif, Mat Jizat TS Manufactures TK Electrical engineering. Electronics Nuclear engineering In this paper a comparison of two approaches for collision avoidance of an automated guided vehicle (AGV) using monocular vision is presented. The first approach is by floor sampling. The floor where the AGV operates, is usually monotone. Thus, by sampling the floor, the information can be used to search similar pixels and establish the floor plane in its vision. Therefore any other objects are considered as obstacles and should be avoided. The second approach employs the Canny edge detection method. The Canny edge detection method allows accurate detection, close to real object, and minimum false detection by image noise. Using this method, every edge detected is considered to be part of an obstacle. This approach tries to avoid the nearest obstacle to its vision. Experiments are conducted in a control environment. The monocular camera is mounted on an ERP-42 Unmanned Solution robot platform and is the sole sensor providing information for the robot about its environment scientific.net Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/2118/1/AMM.145.547.pdf Zahari, Taha and Jessnor Arif, Mat Jizat A Comparison of Two Approaches for Collision Avoidance of an Automated Guided Vehicle Using Monocular Vision. Applied Mechanics and Materials, 145. pp. 547-551. ISSN 1662-7482. (In Press / Online First) (In Press / Online First) http://www.scientific.net/AMM |
| spellingShingle | TS Manufactures TK Electrical engineering. Electronics Nuclear engineering Zahari, Taha Jessnor Arif, Mat Jizat A Comparison of Two Approaches for Collision Avoidance of an Automated Guided Vehicle Using Monocular Vision |
| title | A Comparison of Two Approaches for Collision Avoidance of an Automated Guided Vehicle Using Monocular Vision |
| title_full | A Comparison of Two Approaches for Collision Avoidance of an Automated Guided Vehicle Using Monocular Vision |
| title_fullStr | A Comparison of Two Approaches for Collision Avoidance of an Automated Guided Vehicle Using Monocular Vision |
| title_full_unstemmed | A Comparison of Two Approaches for Collision Avoidance of an Automated Guided Vehicle Using Monocular Vision |
| title_short | A Comparison of Two Approaches for Collision Avoidance of an Automated Guided Vehicle Using Monocular Vision |
| title_sort | comparison of two approaches for collision avoidance of an automated guided vehicle using monocular vision |
| topic | TS Manufactures TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/2118/1/AMM.145.547.pdf |
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