Designing a hybrid sensor system for a housekeeping robot

Designing a hybrid sensor system for a housekeeping robot

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Main Authors: Hema, Chengalvarayan Radhakrishnamurthy, Sim, Kwoh Fung, Poo, Tarn Shi
Other Authors: hema@unimap.edu.my
Format: Working Paper
Language:English
Published: Institute of Electrical and Electronics Engineering (IEEE) 2009
Subjects:
Collision avoidance
Mobile robots
Robot vision
Service robots
Robots > Design and construction
Robotics
Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/7402
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Institution: Universiti Malaysia Perlis
Language: English
id my.unimap-7402
record_format dspace
spelling my.unimap-74022010-11-24T02:55:23Z Designing a hybrid sensor system for a housekeeping robot Hema, Chengalvarayan Radhakrishnamurthy Sim, Kwoh Fung Poo, Tarn Shi hema@unimap.edu.my Collision avoidance Mobile robots Robot vision Service robots Robots -- Design and construction Robotics Link to publisher's homepage at http://ieeexplore.ieee.org Housekeeping robots are service robots specially designed to perform housekeeping tasks such as cleaning and vacuuming, our research focuses on the design of a housekeeping robot to pick up waste objects in a home or office environment. In this paper a hybrid sensor system for the house keeping robot is proposed using vision and ultrasonic sensors to navigate around obstacles and to pick up objects. To pickup objects, ascertaining the exact location of the object is of prime importance. This can be accomplished by computing the 3D coordinates of the object. The navigation task for robots involves the detection of obstacles or objects in the traversable path. Images of objects and obstacles are captured using vision sensors, segmented from background and processed to extract features which are fed to a neural network to recognize and differentiate between obstacles and objects. A recognition accuracy of 100% with an error tolerance of 0.001 is achieved. The centroid of the segmented object is computed to give the x, y and z coordinates of the object location. 2009-12-11T03:49:21Z 2009-12-11T03:49:21Z 2009-03-06 Working Paper p.55-58 978-1-4244-4151-8 http://ieeexplore.ieee.org/xpls/abs_all.jsp?=&arnumber=5069188 http://hdl.handle.net/123456789/7402 en Proceedings of the 5th International Colloquium on Signal Processing & Its Applications (CSPA 2009) Institute of Electrical and Electronics Engineering (IEEE)
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Collision avoidance
Mobile robots
Robot vision
Service robots
Robots -- Design and construction
Robotics
spellingShingle Collision avoidance
Mobile robots
Robot vision
Service robots
Robots -- Design and construction
Robotics
Hema, Chengalvarayan Radhakrishnamurthy
Sim, Kwoh Fung
Poo, Tarn Shi
Designing a hybrid sensor system for a housekeeping robot
description Link to publisher's homepage at http://ieeexplore.ieee.org
author2 hema@unimap.edu.my
author_facet hema@unimap.edu.my
Hema, Chengalvarayan Radhakrishnamurthy
Sim, Kwoh Fung
Poo, Tarn Shi
format Working Paper
author Hema, Chengalvarayan Radhakrishnamurthy
Sim, Kwoh Fung
Poo, Tarn Shi
author_sort Hema, Chengalvarayan Radhakrishnamurthy
title Designing a hybrid sensor system for a housekeeping robot
title_short Designing a hybrid sensor system for a housekeeping robot
title_full Designing a hybrid sensor system for a housekeeping robot
title_fullStr Designing a hybrid sensor system for a housekeeping robot
title_full_unstemmed Designing a hybrid sensor system for a housekeeping robot
title_sort designing a hybrid sensor system for a housekeeping robot
publisher Institute of Electrical and Electronics Engineering (IEEE)
publishDate 2009
url http://dspace.unimap.edu.my/xmlui/handle/123456789/7402
_version_ 1643788804146855936

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