Title :
Path planning for mobile robots using a video camera network
Author :
Hoover, Adam ; Olsen, Bent David
Author_Institution :
Dept. of Electr. & Comput. Eng., California Univ., San Diego, La Jolla, CA, USA
Abstract :
We describe a novel method to plan paths for mobile robots in an environment observed by a network of video cameras. The multiple video streams are fused to generate a spatial-temporal map of freespace. Updated at 5 Hz, this map concurrently locates both static and dynamic obstacles. Our novel method computes a polynomial-shaped path from current position to goal position for each map update (at 5 Hz), thus accomplishing both path planning and dynamic obstacle avoidance simultaneously. We demonstrate our methods operating in several dynamic scenarios, and compare our methods against paths planned using a numeric potential field
Keywords :
computer vision; computerised navigation; mobile robots; path planning; position control; 5 Hz; dynamics; mobile robots; obstacle avoidance; path planning; position control; video camera network; Cameras; Computer networks; Computer vision; Mechanical sensors; Mobile robots; Path planning; Polynomials; Robot sensing systems; Robot vision systems; Robotics and automation;
Conference_Titel :
Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-7803-5038-3
DOI :
10.1109/AIM.1999.803290