紀要論文

自律移動ロボットのための異なる色調照明下での特定色検出システムの開発

DEVELOPMENT OF SPECIFIC COLOR DETECTION SYSTEM UNDER DIFFERENT COLOR TONE ILLUMINATIONS FOR AUTONOMOUS MOBILE ROBOTS

jpn

24368083

https://doi.org/10.15002/00030778

法政大学大学院理工学研究科

法政大学大学院紀要. 理工学研究科編

65

1

4

2024-03-24

Version of Record

Autonomous waypoint navigation stands out as an important task for mobile robots operating in urban environments. To ensure safe navigation, most mobile robots rely on pre-trained navigation maps. However, traditional pre-trained map-based waypoint navigation faces challenges, especially in scenarios like construction sites where the environment changes temporarily and significantly. Temporarily construction sites are usually staffed by people wearing construction jackets in specific colors that make them stand out to avoid accidents involving pedestrians or other mobile robots. This paper describes a new specific color detection algorithm to help autonomous mobile robots navigate safely even when there are temporary construction sites in their travel path. To address the problem of specific color detection under different lighting conditions, especially under the influence of various color lights, we introduce a stable algorithm for detecting specific colors based on Retinex theory. The effectiveness of the proposed system was demonstrated through experiments under various color light conditions.

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