Title :
Vision based navigation system for autonomous mobile robot with global matching
Author :
Abe, Yasunori ; Shikano, Masaru ; Fukuda, Toshio ; Arai, Fumihito ; Tanaka, Yoshio
Author_Institution :
Shinryo Corp., Tsukuba, Japan
Abstract :
We have previously developed a navigation system for an autonomous mobile robot. It can find the landmarks on the ceiling for navigation. However, when the robot fails to recognize a landmark, the robot can not calculate the self-position. So, the robot has to prepare for the behavior of error recovery. But an error that is not able to recover may occur. In such a case, the robot needs to relocate the self-position. In this paper, we define global matching as the behavior that is able to relocate the self-position and propose to use this module for the error recovery in HALAS (hierarchical adaptive and learning architecture system) that we have proposed as a hierarchical system
Keywords :
image matching; mobile robots; navigation; object recognition; position control; robot vision; self-adjusting systems; autonomous mobile robot; error recovery; global matching; hierarchical system; landmark recognition; navigation; robot vision; self-position; Cameras; Dead reckoning; Hierarchical systems; Machine vision; Mobile robots; Navigation; Robot sensing systems; Robot vision systems; Robotics and automation; Systems engineering and theory;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.772540
