LANDMARK-ORIENTED VISUAL NAVIGATION OF A MOBILE ROBOT

被引：15

作者：

GILG, A

SCHMIDT, G

机构：

[1] Department for Automatic Control Engineering (LSR), Technical University of Munich

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 1994年 / 41卷 / 04期

关键词：

Environmental perception - Landmark based vehicle guidance system - Landmark detection;

D O I：

10.1109/41.303789

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes a method of landmark based vehicle guidance used for navigation in corridors and similar indoor environments. Motion tasks are specified by a symbolic course description without providing explicit geometric information. A video sensor system is used for environmental perception and landmark detection. Aspects of sensor data processing and vehicle guidance are discussed. Experimental results are reported.

引用

页码：392 / 397

页数：6

共 9 条

[1]

Bott W., Freyberger F., Schmidt G., Automatische Planung und Ausführung lokaler Fahrman ö ver für Roboterfahrzeuge, GMA-Fachtagung Fachtagung Intelligente Steureung und Regelung von Robotern, pp. 763-772, (1993)

[2]

Bott W., Hornung J., Extraktion von Bewegungszellen für ein topologisch strukturiertes Umweltmodell zur autonomen Fahrzeugührung von MACROBE, Internal report at Lehrstuhl für Steuerungs- und Regelungstechnik, TU Mü+nchen, (1993)

[3]

Frohlich C., Karl G., Schmidt G., Sensor assisted navigation of a mobile robot in building environments, Proc. Int. Workshop SIFIR’89, pp. 397-399, (1990)

[4]

Frohlich C., Schmidt G., A Three-dimensional laser range camera for the autonomous mobile robot MACROBE, Proc. Int. Workshop EUROSENSORS IV, 26, pp. 453-458, (1991)

[5]

Horn J., Bott W., Freyberger F., Schmidt S., Kartesische Bewe-gungssteuerung des autonomen mobilen Roboters MACROBE, Roboter-systeme, 8, pp. 33-43, (1992)

[6]

Ishiguro H., Nishikawa K., Mori H., Mobile robot navigation by visual sign patterns existing in outdoor environment, IROS’ 92 Proc. 1992 IEEE/RSJ Int. Conf. Intell. Robots and Syst., (1992)

[7]

Masaki I., Vision-based Vehicle Guidance, (1991)

[8]

Meng M., Kak A.C., NEURO-NAV: A neural network based architecture for vision-guided mobile robot navigation using non-metrical models of the environment, Proc. IEEE Int. Conf Robot. Automat., (1993)

[9]

Schmidt G., Information processing in autonomous mobile robots, Proc. Int. Workshop, (1991)

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