Moving Direction Calculation of Mobile Robot using Vanishing Point
마지강, 샴 아디카리, 진홍신, 양창주, 김형석 · 제어로봇시스템학회 합동학술대회 논문집 · 2010
We propose a vanishing point-based heading angle computing algorithm of autonomous golf ball collection robots. In golf ball collecting task, the scanned collection via the straight navigation of the robot is the most efficient strategy. Keeping the heading angle of the robot to be constant is required. We found that the heading angle of the robot can be computed using the vanishing points of parallel lines of artificial structures. The proposed vanishing point method bears time efficiency and accuracy, which has been verified through experiments. The experimental results of the proposed method are included in this paper.