VISUAL-BASED INDOOR NAVIGATION FOR AN ALIFE MOBILE ROBOT
Autonomous navigation is one of the most important characteristics for a mobile robot. Because of slipping and some incorrigible drift errors for sensors, it is difficult for a mobile robot to realize self-location after a long distance navigation. In this paper, the perceptual landmarks were used to solve this problem, and the visual servoing control was adopted for the robot to realize self-location. At the same time, in order to detect and extract the artificial landmarks robustly under different illuminating conditions, the color model of the landmarks was built in the HSV color space. And the moving speed was controlled based on the curvature of the guideline to perceived the landmarks in any intervals. These functions were all tested in real time under experiment conditions.
visual servo control artificial landmarks mobile robot artificial intelligence self-location
Jiwu Wang Masanori Sugisaka
ALife Robotics Co.,Ltd,Kopo Nagaoka 301,1385-1,Oaza Miyazaki,Oita,870-1133,Japan Dept.Of Mechanical and Electrical Engineering,Nippon Bunri University,Oita,Japan
国际会议
2008年拟人系统国际会议(2008 International Conference on Humanized Systems )(ICHS’08)
北京
英文
2008-10-18（万方平台首次上网日期，不代表论文的发表时间）