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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Main Authors:	Zahari, Taha, Jessnor Arif, Mat Jizat
Format:	Article
Language:	English
Published:	scientific.net 2012
Subjects:	TS Manufactures TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/2376/ http://umpir.ump.edu.my/id/eprint/2376/ http://umpir.ump.edu.my/id/eprint/2376/1/AMM.145.547.pdf

id	ump-2376
recordtype	eprints
spelling	ump-23762018-01-22T02:44:45Z http://umpir.ump.edu.my/id/eprint/2376/ 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 2012-03-01 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/2376/1/AMM.145.547.pdf Zahari, Taha and Jessnor Arif, Mat Jizat (2012) 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 http://www.scientific.net/AMM
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TS Manufactures TK Electrical engineering. Electronics Nuclear engineering
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
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
format	Article
author	Zahari, Taha Jessnor Arif, Mat Jizat
author_facet	Zahari, Taha Jessnor Arif, Mat Jizat
author_sort	Zahari, Taha
title	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_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_sort	comparison of two approaches for collision avoidance of an automated guided vehicle using monocular vision
publisher	scientific.net
publishDate	2012
url	http://umpir.ump.edu.my/id/eprint/2376/ http://umpir.ump.edu.my/id/eprint/2376/ http://umpir.ump.edu.my/id/eprint/2376/1/AMM.145.547.pdf
first_indexed	2023-09-18T21:56:08Z
last_indexed	2023-09-18T21:56:08Z
_version_	1777414091175886848

A Comparison of Two Approaches for Collision Avoidance of an Automated Guided Vehicle Using Monocular Vision

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