Obstacle avoidance for autonomous land vehicle navigation in indoor environments by quadratic classifier

Ching Heng Ku, Wen-Hsiang Tsai

Research output: Contribution to journalArticlepeer-review

8 Scopus citations

Abstract

A vision-based approach to obstacle avoidance for autonomous land vehicle (ALV) navigation in indoor environments is proposed. The approach is based on the use of a pattern recognition scheme, the quadratic classifier, to find collision-free paths in unknown indoor corridor environments. Obstacles treated in this study include the walls of the corridor and the objects that appear in the way of ALV navigation in the corridor. Detected obstacles as well as the two sides of the ALV body are considered as patterns. A systematic method for separating these patterns into two classes is proposed. The two pattern classes are used as the input data to design a quadratic classifier. Finally, the two-dimensional decision boundary of the classifier, which goes through the middle point between the two front vehicle wheels, is taken as a local collision-free path. This approach is implemented on a real ALV and successful navigations confirm the feasibility of the approach.

Original languageEnglish
Pages (from-to)416-426
Number of pages11
JournalIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Volume29
Issue number3
DOIs
StatePublished - 1 Jan 1999

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