Indoor Navigation of Mobile Robot: An Image Based Approach
Résumé
In this paper, an image-based framework for navigation of a mobile robot in an indoor environment is presented. The only sensor used is an embedded monocular vision system. The environment is autonomously mapped during a learning stage in order to locate the robot on-line. A suitable control law is designed to drive the robot in an image database. To address this issue, a Virtual NonHolonomic Vehicle (VNHV) attached to the image plane is defined.
Domaines
Automatique / Robotique| Origine | Fichiers produits par l'(les) auteur(s) |
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