Title :
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
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;
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
DOI :
10.1109/IROS.1997.655162
