Autonomous navigation for mobile robots referring pre-recorded image sequence

Takayuki Ohno, Akihisa Ohya, Shin'ichi Yuta

研究成果: Paper査読

40 被引用数 (Scopus)

抄録

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.

本文言語English
ページ672-679
ページ数8
出版ステータスPublished - 1996 12 1
イベントProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn
継続期間: 1996 11 41996 11 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

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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