Vision-Guided Mobile Robot Navigation

Author

Zou, An-Min ; Hou, Zeng-Guang ; Tan, Min ; Liu, Derong

Author_Institution

Lab. of Complex Syst. & Intelligence Sci., Chinese Acad. of Sci., Beijing

fYear

0

fDate

0-0 0

Firstpage

209

Lastpage

213

Abstract

In this paper, the vision-based navigation problem for mobile robots in indoor environments is discussed. Corridor guidelines between the walls and the floor are used to guide the robot to move in the middle of the hallway. A neural network method is proposed to calibrate the camera, and then the corridor guidelines are transformed from image coordinates to robot coordinates. The corridor guidelines are extracted using the least square estimator. The backstepping method is employed to design the controller that guarantees the robot to move in the desired path. Experimental and simulation results show the efficiency of the proposed method

Keywords

least squares approximations; mobile robots; neural nets; path planning; backstepping method; controller design; corridor guidelines; image coordinate transformation; indoor environments; least square estimator; neural network method; robot coordinates; vision-guided mobile robot navigation; Cameras; Guidelines; Indoor environments; Least squares approximation; Mobile robots; Motion planning; Navigation; Neural networks; Robot kinematics; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Networking, Sensing and Control, 2006. ICNSC '06. Proceedings of the 2006 IEEE International Conference on

Conference_Location

Ft. Lauderdale, FL

Print_ISBN

1-4244-0065-1

Type

conf

DOI

10.1109/ICNSC.2006.1673144

Filename

1673144