Title :
A mobile robot strategy applied to Harunobu-4
Author :
Mori, Hideo ; Ishiguro, Hiroshi ; Kotani, Shinji ; Yasutomi, Satoshi ; Chino, Yukio
Author_Institution :
Dept. of Comput. Sci., Yamanashi Univ., Koju, Japan
Abstract :
A mobile robot strategy called stereo-typed motion by sign pattern, drawn from a study of lower animals is applied to the mobile robot Harunobu. A stereotyped motion is specified by a fixed action pattern which always appears when the robot encounters a certain situation. The motion classified into two groups; vision-based motion and sensor-based motion. The former consists of moving-along, moving-toward, turning-corner and avoiding-obstacle. A sign pattern is specified by a part of an object that initiates and guides the stereotyped motion. The latter consists of run-over-stop motion and several collision-avoiding motions initiated by bumper switches or ultrasonic sensors. To deal with error status in vision-based motion such as no-passage-found or sign-pattern-missing, several error recovery motions are specified
Keywords :
computer vision; computerised navigation; computerised pattern recognition; mobile robots; Harunobu-4; collision-avoiding motions; computer vision; computerised navigation; computerised pattern recognition; error recovery motions; mobile robot; run-over-stop motion; sensor-based motion; stereo-typed motion; vision-based motion; Animals; Dynamic range; Humans; Layout; Magnetooptic recording; Mobile robots; Roads; Robot sensing systems; Switches; TV;
Conference_Titel :
Pattern Recognition, 1988., 9th International Conference on
Conference_Location :
Rome
Print_ISBN :
0-8186-0878-1
DOI :
10.1109/ICPR.1988.28283
