Vision based navigation system for autonomous mobile robot with global matching

Author

Abe, Yasunori ; Shikano, Masaru ; Fukuda, Toshio ; Arai, Fumihito ; Tanaka, Yoshio

Author_Institution

Shinryo Corp., Tsukuba, Japan

Volume

2

fYear

1999

fDate

1999

Firstpage

1299

Abstract

We have previously developed a navigation system for an autonomous mobile robot. It can find the landmarks on the ceiling for navigation. However, when the robot fails to recognize a landmark, the robot can not calculate the self-position. So, the robot has to prepare for the behavior of error recovery. But an error that is not able to recover may occur. In such a case, the robot needs to relocate the self-position. In this paper, we define global matching as the behavior that is able to relocate the self-position and propose to use this module for the error recovery in HALAS (hierarchical adaptive and learning architecture system) that we have proposed as a hierarchical system

Keywords

image matching; mobile robots; navigation; object recognition; position control; robot vision; self-adjusting systems; autonomous mobile robot; error recovery; global matching; hierarchical system; landmark recognition; navigation; robot vision; self-position; Cameras; Dead reckoning; Hierarchical systems; Machine vision; Mobile robots; Navigation; Robot sensing systems; Robot vision systems; Robotics and automation; Systems engineering and theory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.772540

Filename

772540