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

L. Tang, S. Yuta

研究成果: Conference contribution

16 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
ページ3072-3077
ページ数6
DOI
出版ステータスPublished - 2001 9 15
イベント2001 IEEE International Conference on Robotics and Automation - Seoul, Korea, Republic of
継続期間: 2001 5 212001 5 26

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
3
ISSN(印刷版)1050-4729

Conference

Conference2001 IEEE International Conference on Robotics and Automation
国/地域Korea, Republic of
CitySeoul
Period01/5/2101/5/26

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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