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ICRA
2005
IEEE

Indoor Navigation of a Wheeled Mobile Robot along Visual Routes

10 years 4 months ago
Indoor Navigation of a Wheeled Mobile Robot along Visual Routes
— When navigating in an unknown environment for the first time, a natural behavior consists in memorizing some key views along the performed path, in order to use these references as checkpoints for a future navigation mission taking a similar path. This assumption is used in this paper as the basis of a navigation framework for wheeled mobile robots in indoor environments. During a human-guided teleoperated learning step, the robot performs paths which are sampled and stored as a set of ordered key images, acquired by a standard embedded camera. The set of these obtained visual paths is topologically organized and provides a visual memory of the environment. Given an image of one of the visual paths as a target, the robot navigation mission is defined as a concatenation of visual path subsets, called visual route. When running autonomously, the robot is controlled by a visual servoing law adapted to its nonholonomic constraint. Based on the regulation of successive homographies, t...
Guillaume Le Blanc, Youcef Mezouar, Philippe Marti
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Guillaume Le Blanc, Youcef Mezouar, Philippe Martinet
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