Title :
Optical flow based system design for mobile robots
Author :
Guzel, Mehmet Serdar ; Bicker, Robert
Author_Institution :
Sch. of Mech. & Syst. Eng., Newcastle Univ., Newcastle upon Tyne, UK
Abstract :
This paper presents a new optical flow based navigation strategy, based on a multi-scale variational approach, for mobile robot navigation using a single Internet based camera as a primary sensor. Real experiments to guide a Pioneer 3-DX mobile robot in a cluttered environment are presented, and the analysis of the results allow us to validate the proposed behavior based navigation strategy Main contributions of this approach is that it proposes an alternative high performance navigation algorithm for the systems, consuming high computation time for image acquisition.
Keywords :
Internet; image sensors; image sequences; mobile robots; robot vision; variational techniques; Internet based camera; Pioneer 3-DX mobile robot; behavior based navigation strategy; image acquisition; mobile robot navigation; multiscale variational approach; optical flow based navigation strategy; Algorithm design and analysis; Cameras; Image analysis; Image motion analysis; Internet; Mobile robots; Navigation; Optical sensors; Performance analysis; Robot vision systems; behaviour; mobile robot navigation; obstacle avoidance; optical flow; time to contact; variational approach;
Conference_Titel :
Robotics Automation and Mechatronics (RAM), 2010 IEEE Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-6503-3
DOI :
10.1109/RAMECH.2010.5513134
