S&M Young Researcher Paper Award 2020
Recipients: Ding Jiao, Zao Ni, Jiachou Wang, and Xinxin Li [Winner's comments]
Paper: High Fill Factor Array of Piezoelectric Micromachined
Ultrasonic Transducers with Large Quality Factor

S&M Young Researcher Paper Award 2021
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Vol. 32, No. 8(2), S&M2292

Print: ISSN 0914-4935
Online: ISSN 2435-0869
Sensors and Materials
is an international peer-reviewed open access journal to provide a forum for researchers working in multidisciplinary fields of sensing technology.
Sensors and Materials
is covered by Science Citation Index Expanded (Clarivate Analytics), Scopus (Elsevier), and other databases.

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S&M2794 Research Paper of Special Issue
Published in advance: December 23, 2021

Application of Path Planning and Image Processing for Rescue Robots [PDF]

Chuan-Yen Lu, Chia-Chia Kao, Yu-Hsiang Lu, and Jih-Gau Juang

(Received April 5, 2021; Accepted November 16, 2021)

Keywords: A* algorithm, path planning, image processing, WMR, laser sensor, DGPS

The objective of this study was to integrate different position sensors and a camera in a wheeled mobile robot (WMR) for use in a rescue task. A differential global positioning system (DGPS) was used to locate the WMR position and the goal position. A laser sensor was utilized to detect the locations of obstacles and edge values. The edge values were applied to the A* algorithm to search for the shortest path for the WMR. While searching for a target, a webcam was used to capture images of the surroundings. Color segmentation was achieved and the desired color was captured. The captured color target was then used for tracking control of the rescue task. The A* algorithm, together with image processing and laser sensors, was able to obtain the shortest path to the desired color target in an unknown environment. Obstacle avoidance control was based on a fuzzy system. Experiments confirmed that the proposed control scheme worked properly and was suitable for rescue tasks.

Corresponding author: Jih-Gau Juang




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