Mobile Care Robot Localization and Guidance Using Image Structure Map

This paper presents a localization and guidance method for mobile robots based on computer vision. The purpose of this study was to use CCTV-system video images to position and guide mobile robots. This method enables direct observation of the robot and is not influenced by the characteristics of a specific region or area, changes in the environment at a certain time are used to guide the robot´s movement. In this study, an image structure map was designed to guide the movement of the robot, and motion detection was integrated to position the robot. Throughout the movement process, ultrasound was used to detect obstacles and send feedback to the image structure map, which then immediately labeled the map and changed the course of the robot. This method may be directly employed for care robots and can be extended to other applications in the future.