Abstract
The purpose of this study is to realize autonomous navigation of a mobile robot with referring pre-recorded images, without any environment maps. The strategy of navigation in this research is that the differences of position and orientation of robot between reference and present one are continuously estimated from two images, and are used in the locomotion control commands. In this paper, we use only vertical lines in the image as extracted features, and propose the method to calculate the estimated differences of position and orientation from two images. We also show some results of simulations and experiments using an actual mobile robot, and examine its reliability.
| Original language | English |
|---|---|
| Pages | 672-679 |
| Number of pages | 8 |
| Publication status | Published - 1996 Dec 1 |
| Event | Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn Duration: 1996 Nov 4 → 1996 Nov 8 |
Other
| Other | Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) |
|---|---|
| City | Osaka, Jpn |
| Period | 96/11/4 → 96/11/8 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications