Vision based navigation for mobile robots in indoor environment by teaching and playing-back scheme

L. Tang, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Citations (Scopus)

Abstract

This paper presents a vision based autonomous navigation system for mobile robots in an indoor environment by teaching and playing-back scheme. The system uses an omnidirectional image sensor to perceive the environment, and extracts vertical edges as feature lines. The system memorizes a sequence of environmental images and robot's poses during teaching stage. In the course of play- back navigation, the system calculates the robot's position difference from the memorized and currently taken images, and then decides the trajectory to track the taught route. The detail algorithm and the effectiveness of this method with experiments are shown in this paper.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3072-3077
Number of pages6
Volume3
DOIs
Publication statusPublished - 2001
Externally publishedYes
Event2001 IEEE International Conference on Robotics and Automation - Seoul
Duration: 2001 May 212001 May 26

Other

Other2001 IEEE International Conference on Robotics and Automation
CitySeoul
Period01/5/2101/5/26

Fingerprint

Mobile robots
Teaching
Navigation
Robots
Navigation systems
Image sensors
Trajectories
Experiments

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Tang, L., & Yuta, S. (2001). Vision based navigation for mobile robots in indoor environment by teaching and playing-back scheme. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 3, pp. 3072-3077) https://doi.org/10.1109/ROBOT.2001.933089

Vision based navigation for mobile robots in indoor environment by teaching and playing-back scheme. / Tang, L.; Yuta, Shinichi.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 2001. p. 3072-3077.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tang, L & Yuta, S 2001, Vision based navigation for mobile robots in indoor environment by teaching and playing-back scheme. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 3, pp. 3072-3077, 2001 IEEE International Conference on Robotics and Automation, Seoul, 01/5/21. https://doi.org/10.1109/ROBOT.2001.933089
Tang L, Yuta S. Vision based navigation for mobile robots in indoor environment by teaching and playing-back scheme. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3. 2001. p. 3072-3077 https://doi.org/10.1109/ROBOT.2001.933089
Tang, L. ; Yuta, Shinichi. / Vision based navigation for mobile robots in indoor environment by teaching and playing-back scheme. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 2001. pp. 3072-3077
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