Title :
Vision-Guided Mobile Robot Navigation
Author :
Zou, An-Min ; Hou, Zeng-Guang ; Tan, Min ; Liu, Derong
Author_Institution :
Lab. of Complex Syst. & Intelligence Sci., Chinese Acad. of Sci., Beijing
Abstract :
In this paper, the vision-based navigation problem for mobile robots in indoor environments is discussed. Corridor guidelines between the walls and the floor are used to guide the robot to move in the middle of the hallway. A neural network method is proposed to calibrate the camera, and then the corridor guidelines are transformed from image coordinates to robot coordinates. The corridor guidelines are extracted using the least square estimator. The backstepping method is employed to design the controller that guarantees the robot to move in the desired path. Experimental and simulation results show the efficiency of the proposed method
Keywords :
least squares approximations; mobile robots; neural nets; path planning; backstepping method; controller design; corridor guidelines; image coordinate transformation; indoor environments; least square estimator; neural network method; robot coordinates; vision-guided mobile robot navigation; Cameras; Guidelines; Indoor environments; Least squares approximation; Mobile robots; Motion planning; Navigation; Neural networks; Robot kinematics; Robot vision systems;
Conference_Titel :
Networking, Sensing and Control, 2006. ICNSC '06. Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Ft. Lauderdale, FL
Print_ISBN :
1-4244-0065-1
DOI :
10.1109/ICNSC.2006.1673144
