Title :
A purposive strategy for visual-based navigation of a mobile robot
Author :
Vassallo, Raquel Frizera ; Schneebeli, Hans Jörg ; Santos-Victor, José
Author_Institution :
Dept. of Engenharia Electr., Univ. Fed. do Espirito Santo, Vitoria, Brazil
Abstract :
We address the problem of visual-based navigation of a mobile robot along corridors in indoor environments. The corridor lines are detected, and their vanishing point is calculated. Its deviation from the central column of the image, the corridor line slopes and the standard deviation of the vanishing point are used to control the angular velocity in order to keep the robot in the middle of the corridor. Such strategy exploits the structure of the environment to solve a specific navigation problem in a very robust manner
Keywords :
mobile robots; navigation; robot vision; robust control; angular velocity; corridors; indoor environments; mobile robot; robust control; standard deviation; vanishing point; visual-based navigation; Cameras; Control systems; Data mining; Guidelines; H infinity control; Mobile robots; Navigation; Orbital robotics; Robot sensing systems; Robot vision systems;
Conference_Titel :
Circuits and Systems, 1998. Proceedings. 1998 Midwest Symposium on
Conference_Location :
Notre Dame, IN
Print_ISBN :
0-8186-8914-5
DOI :
10.1109/MWSCAS.1998.759500
