DocumentCode
1123053
Title
Sensing Error for a Mobile Robot Using Line Navigation
Author
Drake, Keith C. ; Mcvey, E. S. ; Inigo, R. M.
Author_Institution
School of Engineering and Applied Sciences, University of Virginia, Charlottesville, VA 22901.
Issue
4
fYear
1985
fDate
7/1/1985 12:00:00 AM
Firstpage
485
Lastpage
490
Abstract
The use of a contrasting line for the visual navigation of autonomous mobile robots in a factory environment is developed. Minimum and maximum linewidths are determined analytically by considering sensor geometry, field of view, and error conditions present in the system. The effects of these error conditions on the width of the line, as seen in the image plane, determines the optimal linewidth. Numerical examples using typical sensor parameters are given.
Keywords
Infrared detectors; Mobile robots; Navigation; Optical sensors; Path planning; Production facilities; Robot kinematics; Robot sensing systems; Vehicles; Wire; Autonomous navigation; discrete sensor; machine vision; mobile robot; navigation line; visual navigation;
fLanguage
English
Journal_Title
Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publisher
ieee
ISSN
0162-8828
Type
jour
DOI
10.1109/TPAMI.1985.4767687
Filename
4767687
Link To Document