Development of Path-Finding System for Humanoid Robots Based on Image Pattern Recognition

Abstract

In this paper, we develop a pattern recognition algorithm applied to a humanoid robot which is exploited as a guide for visually handicapped persons to find a desired path to their destinations. Behavior primitives of a humanoid robot are defined, and Canny's edge detection algorithm is employed to extract the pattern and color of the paving blocks that especially devised for visually handicapped persons. Based on these, an efficient path finding algorithm is developed and implemented on a humanoid robot, running on an embedded linux operating system equipped with a video camera. The performance of our algorithm is experimentally examined in terms of the response time and the pattern recognition ratio. In order to validate our algorithm in various realistic environments, the experiments are repeatedly performed by changing the tilt of paving blocks and the brightness in surrounding area. The results show that our algorithm performs sufficiently well to be exploited as a path finding system for visually handicapped persons. 주저자：연세대학교 전산학과 정보통신망 연구실,