基于全向全景傅里叶变换的移动机器人导航路径表示

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI:10.1109/ROBOT.1998.677273

Yasushi Yagi, Syuji Fujimura, M. Yachida

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引用次数: 51

摘要

本文描述了一种用于具有全向图像传感器的移动机器人的路径导航方法。当机器人移动到目标位置时，该路径由地平线上连续全向图像的一系列二维傅里叶功率谱来记忆。当机器人导航到目标点时，通过比较其当前位置的惯性主轴与记忆的傅立叶功率谱来控制机器人。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Route representation for mobile robot navigation by omnidirectional route panorama Fourier transformation

Described here is a route navigation method for a mobile robot with an omnidirectional image sensor. The route is memorized by a series of two dimensional Fourier power spectra of consecutive omnidirectional images at the horizon while the robot moves to the goal position. While the robot is navigating to the goal point, it is controlled by comparing the principal axis of inertia of its current position with that of the memorized Fourier power spectrum.

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Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

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