Title :
Visual guidance control based on the Hough transform
Author :
Djekoune, A.O. ; Achour, K.
Author_Institution :
Lab. of Robotics & Artificial Intelligence, Dev. Center of the Adv. Technol., Algiers, Algeria
Abstract :
In this paper, a new method using the Hough transform (HT) to correct the drift of the mobile robot CESA is presented. The corrections are made by direct observation; a unique on-board camera is utilized and rotation/translation parameters are computed taking into account the robot neighborhood parameters. As illustration an algorithm implemented is detailed and experiment results for CESA navigation in our laboratory´s corridor and free trajectory generation are given. This paper describes too the structure of the vehicle and its associated sensors
Keywords :
Hough transforms; computerised navigation; mobile robots; robot vision; CESA; HT; Hough transform; mobile robot; on-board camera; rotation parameters; translation parameters; visual guidance control; Artificial intelligence; Intelligent robots; Laboratories; Mobile robots; Navigation; Robot sensing systems; Robot vision systems; Robotics and automation; Vehicles; Wheels;
Conference_Titel :
Intelligent Vehicles Symposium, 2000. IV 2000. Proceedings of the IEEE
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-6363-9
DOI :
10.1109/IVS.2000.898416
