Vision-based navigation by a mobile robot with obstacle avoidance using single-camera vision and ultrasonic sensing
- 1 December 1998
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics and Automation
- Vol. 14 (6) , 969-978
- https://doi.org/10.1109/70.736780
Abstract
This paper describes a vision-based navigation method in an indoor environment for an autonomous mobile robot which can avoid obstacles. In this method, the self-localization of the robot is achieved by a model-based vision system, and nonstop navigation is realized by a retroactive position correction system. Stationary obstacles are avoided with single-camera vision and moving obstacles are detected with ultrasonic sensors. We report on experiments in a hallway using the YAMABICO robot.Keywords
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