Detection of unknown moving objects by reciprocation of observed information between mobile robot

Author

Yagi, Yasushi ; Lin, Ya ; Yachida, Masahiko

Author_Institution

Dept. of Syst. Eng., Osaka Univ., Japan

Volume

2

fYear

1994

fDate

12-16 Sep 1994

Firstpage

996

Abstract

Described here is a method for navigating multiple mobile robots which estimate locations and motions of unknown moving objects. Each robot with conic projection image sensor COPIS can observe an omnidirectional view around the robot in real-time with use of a conic mirror. First, each robot communicates and exchanges information of sensory data. Then, unknown moving objects and a reciprocating robot are discriminated, and motions and locations of unknown moving objects are estimated by cooperative observation of azimuth changes between the two reciprocating robots

Keywords

computerised navigation; image sensors; mobile robots; navigation; object detection; COPIS; azimuth changes; conic mirror; conic projection image sensor; cooperative observation; location estimation; mobile robot; motion estimation; multiple mobile robot navigation; observed information reciprocation; omnidirectional view; reciprocating robot; unknown moving object detection; Azimuth; Cameras; Image sensors; Mirrors; Mobile robots; Motion estimation; Navigation; Object detection; Robot sensing systems; Yagi-Uda antennas;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on

Conference_Location

Munich

Print_ISBN

0-7803-1933-8

Type

conf

DOI

10.1109/IROS.1994.407481

Filename

407481