Appearance-based navigation and homing for autonomous mobile robot

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摘要

In this paper, we develop an algorithm for navigating a mobile robot using the visual potential. The visual potential is computed from an image sequence and optical flow computed from successive images captured by a camera mounted on the robot, that is, the visual potential for navigation is computed from appearances of the workspace observed as an image sequence. The direction to the destination is provided at the initial position of the robot. The robot dynamically selects a local pathway to the destination without collision with obstacles and without any knowledge of the robot workspace. Furthermore, the guidance algorithm to destination allows the mobile robot to return from the destination to the initial position. We present the experimental results of navigation and homing in synthetic and real environments.

论文关键词:Visual navigation,Visual homing,Nonholonomic mobile robot,Visual potential,Optical flow,Dominant plane

论文评审过程:Received 5 December 2011, Revised 30 October 2012, Accepted 28 November 2012, Available online 18 February 2013.

论文官网地址:https://doi.org/10.1016/j.imavis.2012.11.004