AUTONOMOUS NAVIGATION SYSTEMS FOR MOBILE ROBOTS BASE ON OMNIDIRECTIONAL VISION SYSTEM

Due to their advantages, omni-directional mobile robots have found many applications especially in robotic soccer competitions. However, omni directional navigation system, omni-vision system and kicking mechanism in such mobile robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, a comprehensive omni directional mobile robot. Such a robot can respond more quickly and it would be capable for more sophisticated behaviors with multi-sensor data fusion algorithm for global localization. Despite recent advances, effective control and self-localization methods of omni-directional mobile robots remain as important and challenging issues. For this purpose, we utilize the sensor data fusion method in the control system parameters, self localization and world modeling. A vision-based self-localization and the conventional odometry systems are fused for robust self-localization. The methods have been tested in the many Robocup competition field middle size robots.. The localization algorithm includes filtering, sharing and integration of the data for different types of objects recognized in the environment. This paper has tried to focus on description of areas such as omni directional mechanisms, mechanical structure, omni-vision sensor for object detection, robot path planning, and other subjects related to mobile robot's software.