Vision-guided mobile robot navigation

被引：0

作者：

Zou, An-Min ^{[1
]}

Hou, Zeng-Guang ^{[1
]}

Tan, Min ^{[1
]}

Liu, Derong ^{[2
]}

机构：

[1] Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100864, Peoples R China

[2] Univ Illinois, Dept Elect & Comp Engn, Chicago, IL 60607 USA

来源：

PROCEEDINGS OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL | 2006年

基金：

中国国家自然科学基金;

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, the vision-based navigation problem for mobile robots in indoor environments is discussed. Corridor guidelines between the walls and the floor are used to guide the robot to move in the middle of the hallway. A neural network method is proposed to calibrate the camera, and then the corridor guidelines are transformed from image coordinates to robot coordinates. The corridor guidelines are extracted using the least square estimator. The backstepping method is employed to design the controller that guarantees the robot to move in the desired path. Experimental and simulation results show the efficiency of the proposed method.

引用

页码：209 / 213

页数：5

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