Title :
Route representation for mobile robot navigation by omnidirectional route panorama Fourier transformation
Author :
Yagi, Yasushi ; Fujimura, Syuji ; Yachida, Masahiko
Author_Institution :
Area of Intelligent Syst., Osaka Univ., Japan
Abstract :
Described here is a route navigation method for a mobile robot with an omnidirectional image sensor. The route is memorized by a series of two dimensional Fourier power spectra of consecutive omnidirectional images at the horizon while the robot moves to the goal position. While the robot is navigating to the goal point, it is controlled by comparing the principal axis of inertia of its current position with that of the memorized Fourier power spectrum
Keywords :
Fourier transforms; geometry; image sensors; image sequences; mobile robots; path planning; mobile robot navigation; omnidirectional image sensor; omnidirectional route panorama Fourier transformation; route representation; two dimensional Fourier power spectra; Fourier transforms; Image sensors; Intelligent robots; Intelligent systems; Mobile robots; Navigation; Robot control; Robot sensing systems; Solid modeling; Yagi-Uda antennas;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677273
