Title :
Sensing Error for a Mobile Robot Using Line Navigation
Author :
Drake, Keith C. ; Mcvey, E. S. ; Inigo, R. M.
Author_Institution :
School of Engineering and Applied Sciences, University of Virginia, Charlottesville, VA 22901.
fDate :
7/1/1985 12:00:00 AM
Abstract :
The use of a contrasting line for the visual navigation of autonomous mobile robots in a factory environment is developed. Minimum and maximum linewidths are determined analytically by considering sensor geometry, field of view, and error conditions present in the system. The effects of these error conditions on the width of the line, as seen in the image plane, determines the optimal linewidth. Numerical examples using typical sensor parameters are given.
Keywords :
Infrared detectors; Mobile robots; Navigation; Optical sensors; Path planning; Production facilities; Robot kinematics; Robot sensing systems; Vehicles; Wire; Autonomous navigation; discrete sensor; machine vision; mobile robot; navigation line; visual navigation;
Journal_Title :
Pattern Analysis and Machine Intelligence, IEEE Transactions on
DOI :
10.1109/TPAMI.1985.4767687
