Autonomous navigation for mobile robots referring pre-recorded image sequence

Takayuki Ohno, Akihisa Ohya, Shin'ichi Yuta

Research output: Contribution to conferencePaper

40 Citations (Scopus)

Abstract

The purpose of this study is to realize autonomous navigation of a mobile robot with referring pre-recorded images, without any environment maps. The strategy of navigation in this research is that the differences of position and orientation of robot between reference and present one are continuously estimated from two images, and are used in the locomotion control commands. In this paper, we use only vertical lines in the image as extracted features, and propose the method to calculate the estimated differences of position and orientation from two images. We also show some results of simulations and experiments using an actual mobile robot, and examine its reliability.

Original languageEnglish
Pages672-679
Number of pages8
Publication statusPublished - 1996 Dec 1
EventProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn
Duration: 1996 Nov 41996 Nov 8

Other

OtherProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3)
CityOsaka, Jpn
Period96/11/496/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Ohno, T., Ohya, A., & Yuta, S. (1996). Autonomous navigation for mobile robots referring pre-recorded image sequence. 672-679. Paper presented at Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3), Osaka, Jpn, .