Among the various schemes for navigating mobile robot, the control of robot vehicle under a supervisory vision system is a simple and flexible one. In this paper, a design of such system is presented. The human operator can easily specify the planned route of the mobile robot on a monitor which shows the site image taken by the supervisory camera. Our design allows the user to specify the route, the dwelling time at each stop along the route, and the multi-route, multi-robot scheduling. In addition to the interactive human interface, several vision techniques used to achieve real-time mobile robot locating are presented. Together with the image-to-world coordinate transformation, the accuracy of this vision-based navigation system is analyzed.
Navigating Mobile Robot With A Supervisory Vision System
Intelligent Robots and Computer Vision IV ; 1985 ; Cambridge,United States
Proc. SPIE ; 0579
1985-12-11
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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