Development of a support vector machine-based navigation system for driving a mobile robot through paths in plantations
Nenhuma Miniatura disponível
Data
2012-12-01
Autores
Jodas, Danilo Samuel [UNESP]
Marranghello, Norian [UNESP]
Pereira, Aledir Silveira [UNESP]
Guido, Rodrigo Capobianco [UNESP]
Título da Revista
ISSN da Revista
Título de Volume
Editor
Resumo
The use of mobile robots turns out to be interesting in activities where the action of human specialist is difficult or dangerous. Mobile robots are often used for the exploration in areas of difficult access, such as rescue operations and space missions, to avoid human experts exposition to risky situations. Mobile robots are also used in agriculture for planting tasks as well as for keeping the application of pesticides within minimal amounts to mitigate environmental pollution. In this paper we present the development of a system to control the navigation of an autonomous mobile robot through tracks in plantations. Track images are used to control robot direction by preprocessing them to extract image features. Such features are then submitted to a support vector machine in order to find out the most appropriate route. The overall goal of the project to which this work is connected is to develop a real time robot control system to be embedded into a hardware platform. In this paper we report the software implementation of a support vector machine, which so far presented around 93% accuracy in predicting the appropriate route. © 2012 IEEE.
Descrição
Palavras-chave
Autonomous Mobile Robot, Control robots, Environmental pollutions, Hardware platform, Human expert, Image features, Real-time robots, Rescue operations, Software implementation, Space missions, Support vector, Industrial electronics, Navigation systems, Support vector machines, Mobile robots
Como citar
IECON Proceedings (Industrial Electronics Conference), p. 1489-1494.