Planning of vision-based navigation for a mobile robot under uncertainty

Author

Moon, In Hyuk ; Miura, Jun ; Yanagi, Yoshiharu ; Shirai, Yoshiaki

Author_Institution

Dept. of Comput.-Controlled Mech. Syst., Osaka Univ., Japan

Volume

2

fYear

1997

fDate

7-11 Sep 1997

Firstpage

1202

Abstract

This paper deals with planning of visual navigation strategies for a mobile robot under uncertainty of both visual data and dead reckoning data. When a robot passes through a narrow space, it has to move slowly while carefully observing surrounding objects and estimating the distances to the objects precisely. On the other hand, the robot can move fast in a widely open space. A novel method is proposed which can adaptively determine the speed of the robot and the visual landmarks, thereby realizing an efficient navigation of the robot. Experimental results show the feasibility of the method

Keywords

computerised navigation; mobile robots; navigation; robot vision; uncertain systems; dead reckoning data; mobile robot; uncertainty; vision-based navigation planning; Dead reckoning; Delay effects; Image recognition; Mobile robots; Navigation; Orbital robotics; Robot control; Robot sensing systems; Strategic planning; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on

Conference_Location

Grenoble

Print_ISBN

0-7803-4119-8

Type

conf

DOI

10.1109/IROS.1997.655162

Filename

655162