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A simple visual servoing and navigation algorithm for an omnidirectional robot

Title
A simple visual servoing and navigation algorithm for an omnidirectional robot
Authors
Begum A.Lee M.Kim Y.J.
Ewha Authors
김영준
SCOPUS Author ID
김영준scopus
Issue Date
2010
Journal Title
2010 3rd International Conference on Human-Centric Computing, HumanCom 2010
Indexed
SCOPUS scopus
Abstract
This paper presents a simple visual servoing and navigation algorithm for guiding a holonomic or omnidirectional robot. The algorithm facilitates a mobile robot equipped mainly with a webcam to autonomously navigate an unknown environment and explore the path from start configuration to goal configuration along some checkpoints while avoiding obstacles. We have adopted an off-the-shelf toy robot, WowWee™'s Rovio, as robotic platform for our experiments. The proposed algorithm infers information directly from the images that are related to the environment as the Robot faces while navigating and guides the robot to perform image-based navigation. Experimental results on an omnidirectional robot demonstrate that the robot can successfully navigates through building environment and finds the goal point within a reasonable amount of time. © 2010 IEEE.
DOI
10.1109/HUMANCOM.2010.5563325
ISBN
9781424475704
Appears in Collections:
엘텍공과대학 > 컴퓨터공학과 > Journal papers
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