Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
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Corridor Navigation of the Mobile Robot Using Image Based Control

  • Han, Kyu-Bum (Graduated Student in Department of Mechanical Engineering, Yonsei University) ;
  • Kim, Hae-Young (Unitel Co., Ltd.) ;
  • Baek, Yoon-Su (School of Electrical & Mechanical Engineering, Yonsei University)
  • Published : 2001.08.01
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Abstract

In this paper, the wall following navigation algorithm of the mobile robot using a mono vision system is described. The key points of the mobile robot navigation system are effective acquisition of the environmental information and fast recognition of the robot position. Also, from this information, the mobile robot should be appropriately controlled to follow a desired path. For the recognition of the relative position and orientation of the robot to the wall, the features of the corridor structure are extracted using the mono vision system, then the relative position, the offset distance and steering angle of the robot from the wall, is derived for a simple corridor geometry. For the alleviation of the computation burden of the image processing, the Kalman filter is used to reduce search region in the image space for line detection. Next, the robot is controlled by this information to follow the desired path. The wall following control scheme by the PD control scheme is composed of two control parts, the approaching control and the orientation control, and each control is performed by steering and forward-driving motion of the robot. To verify the effectiveness of the proposed algorithm, the real time navigation experiments are performed. Through the result of the experiments, the effectiveness and flexibility of the suggested algorithm are verified in comparison with a pure encoder-guided mobile robot navigation system.

Keywords

References

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