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

Author

Tang, Lixin ; Yuta, Shin ´ichi

Author_Institution

Intelligent Robot Lab., Tsukuba Univ., Ibaraki, Japan

Volume

3

fYear

2001

fDate

2001

Firstpage

3072

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 playback 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.

Keywords

computerised navigation; edge detection; feature extraction; image sequences; learning (artificial intelligence); mobile robots; position control; robot vision; edge detection; feature extraction; image sequence; indoor environment; learning system; mobile robots; navigation; omnidirectional image sensor; playing-back scheme; position control; Cameras; Education; Educational robots; Indoor environments; Mobile robots; Navigation; Robot control; Robot sensing systems; Robot vision systems; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.933089

Filename

933089