基于单摄像头视觉和超声传感的移动机器人避障视觉导航

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI:10.1109/IROS.1997.655088

A. Ohya, A. Kosaka, A. Kak

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引用次数: 47

摘要

本文研究了一种基于视觉的自主移动机器人室内避障导航方法。该方法利用基于模式的视觉系统实现机器人的自定位，并利用回溯式位置校正系统实现机器人的不间断导航。用单镜头视觉避开静止障碍物，用超声波传感器检测移动障碍物。我们报告了在走廊上使用YAMABICO机器人的实验。

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Vision-based navigation of mobile robot with obstacle avoidance by single camera vision and ultrasonic sensing

This paper describes a vision-based navigation method in an indoor environment for an autonomous mobile robot which can avoid obstacles. In this method, the self-localization of the robot is done with a mode-based vision system, and a non-stop navigation is realized by a retroactive position correction system. Stationary obstacles are avoided with single-camera vision and moving obstacles are detected with ultrasonic sensors. We report on experiments in a hallway using the YAMABICO robot.

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来源期刊

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97

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