Obstacle detection and avoidance via cascade classifier for wheeled mobile robot

Chung Jung Lee, Teng Hui Tseng, Bo Jhen Huang, Jun-Wei Hsieh, Chun Ming Tsai*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

A cone obstacle detection method is proposed to detect the cone obstacle. The proposed method uses the Haar features trained by the Adaboost algorithm. After training, the cascaded classifiers are produced and used in a wheeled mobile robot to detect the cone obstacles. To apply the cone obstacle detection, the wheeled mobile robot uses the proposed cone obstacle detection algorithm to simulate children playing the cone maze. The wheeled mobile robot creates a twisty path to move through and around the cones to go to the end point. Experimental results show that the proposed method is effective to detect the cone obstacles. Furthermore, the wheeled mobile robot can create a twisty path to move through and around the cones to go to the end point.

Original languageEnglish
Title of host publicationProceedings of 2015 International Conference on Machine Learning and Cybernetics, ICMLC 2015
PublisherIEEE Computer Society
Pages403-407
Number of pages5
ISBN (Electronic)9781467372213
DOIs
StatePublished - 30 Nov 2015
Event14th International Conference on Machine Learning and Cybernetics, ICMLC 2015 - Guangzhou, China
Duration: 12 Jul 201515 Jul 2015

Publication series

NameProceedings - International Conference on Machine Learning and Cybernetics
Volume1
ISSN (Print)2160-133X
ISSN (Electronic)2160-1348

Conference

Conference14th International Conference on Machine Learning and Cybernetics, ICMLC 2015
CountryChina
CityGuangzhou
Period12/07/1515/07/15

Keywords

  • Adaboost algorithm
  • Automatic obstacle avoiding
  • Cascade classifier
  • Cone obstacle detection
  • Haar features
  • Wheeled mobile robot

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  • Cite this

    Lee, C. J., Tseng, T. H., Huang, B. J., Hsieh, J-W., & Tsai, C. M. (2015). Obstacle detection and avoidance via cascade classifier for wheeled mobile robot. In Proceedings of 2015 International Conference on Machine Learning and Cybernetics, ICMLC 2015 (pp. 403-407). [7340955] (Proceedings - International Conference on Machine Learning and Cybernetics; Vol. 1). IEEE Computer Society. https://doi.org/10.1109/ICMLC.2015.7340955