Mobile Robot Localization and Path Planning Using an Omnidirectional Camera and Infrared Sensors

被引：4

作者：

Hsieh, Chia-Hao ^{[1
]}

Wang, Min-Liang ^{[1
]}

Kao, Li-Wei ^{[1
]}

Lin, Huei-Yung ^{[1
]}

机构：

[1] Natl Chung Cheng Univ, Dept Elect Engn, Chiayi 621, Taiwan

来源：

2009 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS (SMC 2009), VOLS 1-9 | 2009年

关键词：

D O I：

10.1109/ICSMC.2009.5345993

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we propose a self-localization and path-planning method for mobile robot navigation. An omnidirectional camera and infrared sensors are used to extract the landmarks information of the environment. Due to the large field of view of the omnidirectional camera, the mobile robot can capture the rich information of the environment. The landmark features are detected and extracted from the omnidirectional video camera, so the robot is able to navigate in the environment automatically to learn the localization information and avoid obstacles by using infrared sensors. The robot system can then use the localization information to plan a shortest path to visit some particular locations prespecified by the user.

引用

页码：1947 / 1952

页数：6

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