Summary
International Technical Conference on Circuits/Systems, Computers and Communications
2008
Session Number:A3
Session:
Number:A3-1
Monocular Vision based Indoor Mobile Robot
Naoya Tada, Keisuke Murata, Takeshi Saitoh, Tomoyuki Osaki, Ryosuke Konishi,
pp.-
Publication Date:2008/7/7
Online ISSN:2188-5079
Summary:
This paper presents the indoor mobile robot that moves automatically without needing environment information beforehand while recognizing the frontal surrounding environment with only one general camera. Based on the frontal image, the robot detects two boundary lines, some obstacle regions, and a moving direction. When the obstacle is detected, the avoidance or stop movement is worked according to the size and the position of the obstacle, otherwise the robot moves at the center of the corridor. We developed two wheelchair based mobile robots, and carried out moving experiments. It was possible to pass each other without colliding by working the avoidance movement in face-to-face movement in the coexistence environment.